diff --git a/.gitignore b/.gitignore index cefaab2..be4dd5d 100644 --- a/.gitignore +++ b/.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 diff --git a/DummyFolder/.dummyplaceholder b/DummyFolder/.dummyplaceholder deleted file mode 100644 index ed39295..0000000 --- a/DummyFolder/.dummyplaceholder +++ /dev/null @@ -1 +0,0 @@ -ToBeDeleted diff --git a/explore_lite_revised/CMakeLists.txt b/ast_explore_lite/CMakeLists.txt similarity index 85% rename from explore_lite_revised/CMakeLists.txt rename to ast_explore_lite/CMakeLists.txt index 55d6503..101538c 100644 --- a/explore_lite_revised/CMakeLists.txt +++ b/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} diff --git a/explore_lite_revised/include/explore/costmap_client.h b/ast_explore_lite/include/explore/costmap_client.h similarity index 100% rename from explore_lite_revised/include/explore/costmap_client.h rename to ast_explore_lite/include/explore/costmap_client.h diff --git a/explore_lite_revised/include/explore/costmap_tools.h b/ast_explore_lite/include/explore/costmap_tools.h similarity index 100% rename from explore_lite_revised/include/explore/costmap_tools.h rename to ast_explore_lite/include/explore/costmap_tools.h diff --git a/explore_lite_revised/include/explore/explore.h b/ast_explore_lite/include/explore/explore.h similarity index 100% rename from explore_lite_revised/include/explore/explore.h rename to ast_explore_lite/include/explore/explore.h diff --git a/explore_lite_revised/include/explore/explore_utils.h b/ast_explore_lite/include/explore/explore_utils.h similarity index 100% rename from explore_lite_revised/include/explore/explore_utils.h rename to ast_explore_lite/include/explore/explore_utils.h diff --git a/explore_lite_revised/include/explore/frontier_search.h b/ast_explore_lite/include/explore/frontier_search.h similarity index 100% rename from explore_lite_revised/include/explore/frontier_search.h rename to ast_explore_lite/include/explore/frontier_search.h diff --git a/ast_explore_lite/launch/explore.launch b/ast_explore_lite/launch/explore.launch new file mode 100644 index 0000000..2cfd39f --- /dev/null +++ b/ast_explore_lite/launch/explore.launch @@ -0,0 +1,5 @@ + + + + + \ No newline at end of file diff --git a/ast_explore_lite/launch/explore_costmap.launch b/ast_explore_lite/launch/explore_costmap.launch new file mode 100644 index 0000000..09aad32 --- /dev/null +++ b/ast_explore_lite/launch/explore_costmap.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/explore_lite_revised/package.xml b/ast_explore_lite/package.xml similarity index 96% rename from explore_lite_revised/package.xml rename to ast_explore_lite/package.xml index 69bf5e7..933b2b3 100644 --- a/explore_lite_revised/package.xml +++ b/ast_explore_lite/package.xml @@ -1,6 +1,6 @@ - explore_lite_revised + ast_explore_lite 2.1.1 Lightweight frontier-based exploration. diff --git a/explore_lite_revised/param/explore_lite_revised.yaml b/ast_explore_lite/param/ast_explore_lite.yaml similarity index 100% rename from explore_lite_revised/param/explore_lite_revised.yaml rename to ast_explore_lite/param/ast_explore_lite.yaml diff --git a/explore_lite_revised/src/costmap_client.cpp b/ast_explore_lite/src/costmap_client.cpp similarity index 100% rename from explore_lite_revised/src/costmap_client.cpp rename to ast_explore_lite/src/costmap_client.cpp diff --git a/explore_lite_revised/src/explore.cpp b/ast_explore_lite/src/explore.cpp similarity index 99% rename from explore_lite_revised/src/explore.cpp rename to ast_explore_lite/src/explore.cpp index 047be0e..64580f7 100644 --- a/explore_lite_revised/src/explore.cpp +++ b/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"); diff --git a/explore_lite_revised/src/frontier_search.cpp b/ast_explore_lite/src/frontier_search.cpp similarity index 99% rename from explore_lite_revised/src/frontier_search.cpp rename to ast_explore_lite/src/frontier_search.cpp index 5d4b858..5d3aa81 100644 --- a/explore_lite_revised/src/frontier_search.cpp +++ b/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) { diff --git a/ast_move_base/CMakeLists.txt b/ast_move_base/CMakeLists.txt new file mode 100644 index 0000000..e4bd55d --- /dev/null +++ b/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) diff --git a/explore_stack/launch/move_base.launch b/ast_move_base/launch/move_base.launch similarity index 79% rename from explore_stack/launch/move_base.launch rename to ast_move_base/launch/move_base.launch index b6b5c91..c05fd64 100644 --- a/explore_stack/launch/move_base.launch +++ b/ast_move_base/launch/move_base.launch @@ -15,22 +15,22 @@ - + - + - + - + - + - + diff --git a/ast_move_base/package.xml b/ast_move_base/package.xml new file mode 100644 index 0000000..545d896 --- /dev/null +++ b/ast_move_base/package.xml @@ -0,0 +1,68 @@ + + + ast_move_base + 0.0.0 + The ast_move_base package + + + + + user + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msg + roscpp + rospy + geometry_msg + roscpp + rospy + geometry_msg + roscpp + rospy + + + + + + + + diff --git a/explore_stack/param/costmap_common_params_waffle_pi.yaml b/ast_move_base/param/costmap_common_params_waffle_pi.yaml similarity index 100% rename from explore_stack/param/costmap_common_params_waffle_pi.yaml rename to ast_move_base/param/costmap_common_params_waffle_pi.yaml diff --git a/explore_stack/param/dwa_local_planner_params_waffle_pi.yaml b/ast_move_base/param/dwa_local_planner_params_waffle_pi.yaml similarity index 100% rename from explore_stack/param/dwa_local_planner_params_waffle_pi.yaml rename to ast_move_base/param/dwa_local_planner_params_waffle_pi.yaml diff --git a/explore_stack/param/global_costmap_params.yaml b/ast_move_base/param/global_costmap_params.yaml similarity index 100% rename from explore_stack/param/global_costmap_params.yaml rename to ast_move_base/param/global_costmap_params.yaml diff --git a/explore_stack/param/local_costmap_params.yaml b/ast_move_base/param/local_costmap_params.yaml similarity index 100% rename from explore_stack/param/local_costmap_params.yaml rename to ast_move_base/param/local_costmap_params.yaml diff --git a/explore_stack/param/move_base.yaml b/ast_move_base/param/move_base.yaml similarity index 100% rename from explore_stack/param/move_base.yaml rename to ast_move_base/param/move_base.yaml diff --git a/explore_stack/CMakeLists.txt b/ast_stack/CMakeLists.txt similarity index 96% rename from explore_stack/CMakeLists.txt rename to ast_stack/CMakeLists.txt index 8e23cb7..dd9190d 100644 --- a/explore_stack/CMakeLists.txt +++ b/ast_stack/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(explore_stack) +project(ast_stack) ## Compile as C++11, supported in ROS Kinetic and newer # add_compile_options(-std=c++11) @@ -111,7 +111,7 @@ find_package(Boost REQUIRED COMPONENTS system ) ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( # INCLUDE_DIRS include -# LIBRARIES explore_stack +# LIBRARIES ast_stack # CATKIN_DEPENDS other_catkin_pkg # DEPENDS system_lib ) @@ -129,7 +129,7 @@ include_directories( ## Declare a C++ library # add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/explore_stack.cpp +# src/${PROJECT_NAME}/ast_stack.cpp # ) ## Add cmake target dependencies of the library @@ -140,7 +140,7 @@ include_directories( ## 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(${PROJECT_NAME}_node src/explore_stack_node.cpp) +# add_executable(${PROJECT_NAME}_node src/ast_stack_node.cpp) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the @@ -197,7 +197,7 @@ include_directories( ############# ## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_explore_stack.cpp) +# catkin_add_gtest(${PROJECT_NAME}-test test/test_ast_stack.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif() diff --git a/explore_stack/cfg/frontier_exploration.yaml b/ast_stack/cfg/frontier_exploration.yaml similarity index 100% rename from explore_stack/cfg/frontier_exploration.yaml rename to ast_stack/cfg/frontier_exploration.yaml diff --git a/explore_stack/cfg/karto_mapper_params.yaml b/ast_stack/cfg/karto_mapper_params.yaml similarity index 100% rename from explore_stack/cfg/karto_mapper_params.yaml rename to ast_stack/cfg/karto_mapper_params.yaml diff --git a/explore_stack/cfg/turtlebot3_lds_2d.lua b/ast_stack/cfg/turtlebot3_lds_2d.lua similarity index 100% rename from explore_stack/cfg/turtlebot3_lds_2d.lua rename to ast_stack/cfg/turtlebot3_lds_2d.lua diff --git a/explore_stack/cfg/turtlebot3_lds_2d_gazebo.lua b/ast_stack/cfg/turtlebot3_lds_2d_gazebo.lua similarity index 100% rename from explore_stack/cfg/turtlebot3_lds_2d_gazebo.lua rename to ast_stack/cfg/turtlebot3_lds_2d_gazebo.lua diff --git a/ast_stack/launch/ast_explore_lite.launch b/ast_stack/launch/ast_explore_lite.launch new file mode 100644 index 0000000..a014e63 --- /dev/null +++ b/ast_stack/launch/ast_explore_lite.launch @@ -0,0 +1,15 @@ + + + + + + + + + + diff --git a/explore_stack/launch/combined_bringup.launch b/ast_stack/launch/combined_bringup.launch similarity index 88% rename from explore_stack/launch/combined_bringup.launch rename to ast_stack/launch/combined_bringup.launch index f766327..0a51187 100644 --- a/explore_stack/launch/combined_bringup.launch +++ b/ast_stack/launch/combined_bringup.launch @@ -30,7 +30,7 @@ - + @@ -51,7 +51,7 @@ @@ -72,7 +72,7 @@ - + @@ -80,9 +80,7 @@ - - - + diff --git a/explore_stack/launch/combined_bringup_p_worlds.launch b/ast_stack/launch/combined_bringup_p_worlds.launch similarity index 86% rename from explore_stack/launch/combined_bringup_p_worlds.launch rename to ast_stack/launch/combined_bringup_p_worlds.launch index 05be262..19721f3 100644 --- a/explore_stack/launch/combined_bringup_p_worlds.launch +++ b/ast_stack/launch/combined_bringup_p_worlds.launch @@ -3,7 +3,7 @@ - + @@ -32,7 +32,7 @@ - + @@ -53,7 +53,7 @@ @@ -73,7 +73,7 @@ - + @@ -82,10 +82,7 @@ - - - - + diff --git a/ast_stack/launch/robot_launch_manual_explore.launch b/ast_stack/launch/robot_launch_manual_explore.launch new file mode 100644 index 0000000..8235742 --- /dev/null +++ b/ast_stack/launch/robot_launch_manual_explore.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/explore_stack/launch/robot_launch_manual_explore_PC.launch b/ast_stack/launch/robot_launch_manual_explore_PC.launch similarity index 76% rename from explore_stack/launch/robot_launch_manual_explore_PC.launch rename to ast_stack/launch/robot_launch_manual_explore_PC.launch index e3ad60c..be83adc 100644 --- a/explore_stack/launch/robot_launch_manual_explore_PC.launch +++ b/ast_stack/launch/robot_launch_manual_explore_PC.launch @@ -3,18 +3,21 @@ + - - - - - - + + + - + diff --git a/explore_stack/launch/tuning_table.launch b/ast_stack/launch/tuning_table.launch similarity index 79% rename from explore_stack/launch/tuning_table.launch rename to ast_stack/launch/tuning_table.launch index a2b1a15..85d4cda 100644 --- a/explore_stack/launch/tuning_table.launch +++ b/ast_stack/launch/tuning_table.launch @@ -19,12 +19,6 @@ - - - - - - @@ -36,7 +30,7 @@ - + @@ -58,7 +52,7 @@ pkg="rviz" type="rviz" respawn="true" - args="-d $(find explore_stack)/rviz/move_base_tuning.rviz" + args="-d $(find ast_stack)/rviz/move_base_tuning.rviz" /> @@ -78,7 +72,7 @@ - + @@ -86,9 +80,4 @@ - - - - - diff --git a/explore_stack/maps/gmapping_ss4_m1.yaml.pgm b/ast_stack/maps/gmapping_ss4_m1.yaml.pgm similarity index 100% rename from explore_stack/maps/gmapping_ss4_m1.yaml.pgm rename to ast_stack/maps/gmapping_ss4_m1.yaml.pgm diff --git a/explore_stack/maps/gmapping_ss4_m1.yaml.yaml b/ast_stack/maps/gmapping_ss4_m1.yaml.yaml similarity index 100% rename from explore_stack/maps/gmapping_ss4_m1.yaml.yaml rename to ast_stack/maps/gmapping_ss4_m1.yaml.yaml diff --git a/explore_stack/maps/gmapping_ss4_m2.pgm b/ast_stack/maps/gmapping_ss4_m2.pgm similarity index 100% rename from explore_stack/maps/gmapping_ss4_m2.pgm rename to ast_stack/maps/gmapping_ss4_m2.pgm diff --git a/explore_stack/maps/gmapping_ss4_m2.yaml b/ast_stack/maps/gmapping_ss4_m2.yaml similarity index 100% rename from explore_stack/maps/gmapping_ss4_m2.yaml rename to ast_stack/maps/gmapping_ss4_m2.yaml diff --git a/explore_stack/maps/gmapping_ss4_m3.pgm b/ast_stack/maps/gmapping_ss4_m3.pgm similarity index 100% rename from explore_stack/maps/gmapping_ss4_m3.pgm rename to ast_stack/maps/gmapping_ss4_m3.pgm diff --git a/explore_stack/maps/gmapping_ss4_m3.yaml b/ast_stack/maps/gmapping_ss4_m3.yaml similarity index 100% rename from explore_stack/maps/gmapping_ss4_m3.yaml rename to ast_stack/maps/gmapping_ss4_m3.yaml diff --git a/explore_stack/maps/gmapping_ss4_m4.pgm b/ast_stack/maps/gmapping_ss4_m4.pgm similarity index 100% rename from explore_stack/maps/gmapping_ss4_m4.pgm rename to ast_stack/maps/gmapping_ss4_m4.pgm diff --git a/explore_stack/maps/gmapping_ss4_m4.yaml b/ast_stack/maps/gmapping_ss4_m4.yaml similarity index 100% rename from explore_stack/maps/gmapping_ss4_m4.yaml rename to ast_stack/maps/gmapping_ss4_m4.yaml diff --git a/explore_stack/maps/gmapping_sshq4_2_1.pgm b/ast_stack/maps/gmapping_sshq4_2_1.pgm similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_1.pgm rename to ast_stack/maps/gmapping_sshq4_2_1.pgm diff --git a/explore_stack/maps/gmapping_sshq4_2_1.yaml b/ast_stack/maps/gmapping_sshq4_2_1.yaml similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_1.yaml rename to ast_stack/maps/gmapping_sshq4_2_1.yaml diff --git a/explore_stack/maps/gmapping_sshq4_2_2.pgm b/ast_stack/maps/gmapping_sshq4_2_2.pgm similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_2.pgm rename to ast_stack/maps/gmapping_sshq4_2_2.pgm diff --git a/explore_stack/maps/gmapping_sshq4_2_2.yaml b/ast_stack/maps/gmapping_sshq4_2_2.yaml similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_2.yaml rename to ast_stack/maps/gmapping_sshq4_2_2.yaml diff --git a/explore_stack/maps/gmapping_sshq4_2_3.pgm b/ast_stack/maps/gmapping_sshq4_2_3.pgm similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_3.pgm rename to ast_stack/maps/gmapping_sshq4_2_3.pgm diff --git a/explore_stack/maps/gmapping_sshq4_2_3.yaml b/ast_stack/maps/gmapping_sshq4_2_3.yaml similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_3.yaml rename to ast_stack/maps/gmapping_sshq4_2_3.yaml diff --git a/explore_stack/maps/gmapping_sshq4_2_4.pgm b/ast_stack/maps/gmapping_sshq4_2_4.pgm similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_4.pgm rename to ast_stack/maps/gmapping_sshq4_2_4.pgm diff --git a/explore_stack/maps/gmapping_sshq4_2_4.yaml b/ast_stack/maps/gmapping_sshq4_2_4.yaml similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_4.yaml rename to ast_stack/maps/gmapping_sshq4_2_4.yaml diff --git a/explore_stack/maps/gmapping_sshq4_2_5.pgm b/ast_stack/maps/gmapping_sshq4_2_5.pgm similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_5.pgm rename to ast_stack/maps/gmapping_sshq4_2_5.pgm diff --git a/explore_stack/maps/gmapping_sshq4_2_5.yaml b/ast_stack/maps/gmapping_sshq4_2_5.yaml similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_5.yaml rename to ast_stack/maps/gmapping_sshq4_2_5.yaml diff --git a/explore_stack/maps/gmapping_sshq4_2_6.pgm b/ast_stack/maps/gmapping_sshq4_2_6.pgm similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_6.pgm rename to ast_stack/maps/gmapping_sshq4_2_6.pgm diff --git a/explore_stack/maps/gmapping_sshq4_2_6.yaml b/ast_stack/maps/gmapping_sshq4_2_6.yaml similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_6.yaml rename to ast_stack/maps/gmapping_sshq4_2_6.yaml diff --git a/explore_stack/maps/gmapping_sshq4_2_6_fail.pgm b/ast_stack/maps/gmapping_sshq4_2_6_fail.pgm similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_6_fail.pgm rename to ast_stack/maps/gmapping_sshq4_2_6_fail.pgm diff --git a/explore_stack/maps/gmapping_sshq4_2_6_fail.yaml b/ast_stack/maps/gmapping_sshq4_2_6_fail.yaml similarity index 100% rename from explore_stack/maps/gmapping_sshq4_2_6_fail.yaml rename to ast_stack/maps/gmapping_sshq4_2_6_fail.yaml diff --git a/explore_stack/maps/hector_ss_hq4_m1.pgm b/ast_stack/maps/hector_ss_hq4_m1.pgm similarity index 100% rename from explore_stack/maps/hector_ss_hq4_m1.pgm rename to ast_stack/maps/hector_ss_hq4_m1.pgm diff --git a/explore_stack/maps/hector_ss_hq4_m1.yaml b/ast_stack/maps/hector_ss_hq4_m1.yaml similarity index 100% rename from explore_stack/maps/hector_ss_hq4_m1.yaml rename to ast_stack/maps/hector_ss_hq4_m1.yaml diff --git a/maps/hq4_1.pgm b/ast_stack/maps/hq4_1.pgm similarity index 100% rename from maps/hq4_1.pgm rename to ast_stack/maps/hq4_1.pgm diff --git a/maps/hq4_1.yaml b/ast_stack/maps/hq4_1.yaml similarity index 100% rename from maps/hq4_1.yaml rename to ast_stack/maps/hq4_1.yaml diff --git a/maps/hq4_2.pgm b/ast_stack/maps/hq4_2.pgm similarity index 100% rename from maps/hq4_2.pgm rename to ast_stack/maps/hq4_2.pgm diff --git a/maps/hq4_2.yaml b/ast_stack/maps/hq4_2.yaml similarity index 100% rename from maps/hq4_2.yaml rename to ast_stack/maps/hq4_2.yaml diff --git a/maps/hq4_2_1.pgm b/ast_stack/maps/hq4_2_1.pgm similarity index 100% rename from maps/hq4_2_1.pgm rename to ast_stack/maps/hq4_2_1.pgm diff --git a/maps/hq4_2_1.yaml b/ast_stack/maps/hq4_2_1.yaml similarity index 100% rename from maps/hq4_2_1.yaml rename to ast_stack/maps/hq4_2_1.yaml diff --git a/maps/hq4_2_2.pgm b/ast_stack/maps/hq4_2_2.pgm similarity index 100% rename from maps/hq4_2_2.pgm rename to ast_stack/maps/hq4_2_2.pgm diff --git a/maps/hq4_2_2.yaml b/ast_stack/maps/hq4_2_2.yaml similarity index 100% rename from maps/hq4_2_2.yaml rename to ast_stack/maps/hq4_2_2.yaml diff --git a/maps/hq4_2_3.pgm b/ast_stack/maps/hq4_2_3.pgm similarity index 100% rename from maps/hq4_2_3.pgm rename to ast_stack/maps/hq4_2_3.pgm diff --git a/maps/hq4_2_3.yaml b/ast_stack/maps/hq4_2_3.yaml similarity index 100% rename from maps/hq4_2_3.yaml rename to ast_stack/maps/hq4_2_3.yaml diff --git a/maps/hq4_2_4.pgm b/ast_stack/maps/hq4_2_4.pgm similarity index 100% rename from maps/hq4_2_4.pgm rename to ast_stack/maps/hq4_2_4.pgm diff --git a/maps/hq4_2_4.yaml b/ast_stack/maps/hq4_2_4.yaml similarity index 100% rename from maps/hq4_2_4.yaml rename to ast_stack/maps/hq4_2_4.yaml diff --git a/maps/hq4_3.pgm b/ast_stack/maps/hq4_3.pgm similarity index 100% rename from maps/hq4_3.pgm rename to ast_stack/maps/hq4_3.pgm diff --git a/maps/hq4_3.yaml b/ast_stack/maps/hq4_3.yaml similarity index 100% rename from maps/hq4_3.yaml rename to ast_stack/maps/hq4_3.yaml diff --git a/maps/hq4_4.pgm b/ast_stack/maps/hq4_4.pgm similarity index 100% rename from maps/hq4_4.pgm rename to ast_stack/maps/hq4_4.pgm diff --git a/maps/hq4_4.yaml b/ast_stack/maps/hq4_4.yaml similarity index 100% rename from maps/hq4_4.yaml rename to ast_stack/maps/hq4_4.yaml diff --git a/explore_stack/package.xml b/ast_stack/package.xml similarity index 96% rename from explore_stack/package.xml rename to ast_stack/package.xml index b6d145a..20e72cd 100644 --- a/explore_stack/package.xml +++ b/ast_stack/package.xml @@ -1,6 +1,6 @@ - explore_stack + ast_stack 0.0.0 package itendet to run all autonomous exploration stack @@ -19,7 +19,7 @@ - + diff --git a/explore_stack/param/explore_lite_revised.yaml b/ast_stack/param/ast_explore_lite.yaml similarity index 100% rename from explore_stack/param/explore_lite_revised.yaml rename to ast_stack/param/ast_explore_lite.yaml diff --git a/explore_stack/rviz/explore_lite_tb3.rviz b/ast_stack/rviz/explore_lite_tb3.rviz similarity index 99% rename from explore_stack/rviz/explore_lite_tb3.rviz rename to ast_stack/rviz/explore_lite_tb3.rviz index 8e7bd0d..b2b1d31 100644 --- a/explore_stack/rviz/explore_lite_tb3.rviz +++ b/ast_stack/rviz/explore_lite_tb3.rviz @@ -351,7 +351,7 @@ Visualization Manager: Value: true - Class: rviz/MarkerArray Enabled: true - Marker Topic: /explore_lite_revised/frontiers + Marker Topic: /ast_explore_lite/frontiers Name: MarkerArray Namespaces: frontiers: true diff --git a/explore_stack/rviz/explore_lite_vanilla.rviz b/ast_stack/rviz/explore_lite_vanilla.rviz similarity index 100% rename from explore_stack/rviz/explore_lite_vanilla.rviz rename to ast_stack/rviz/explore_lite_vanilla.rviz diff --git a/explore_stack/rviz/move_base_tuning.rviz b/ast_stack/rviz/move_base_tuning.rviz similarity index 99% rename from explore_stack/rviz/move_base_tuning.rviz rename to ast_stack/rviz/move_base_tuning.rviz index f4a8b42..37dc1a0 100644 --- a/explore_stack/rviz/move_base_tuning.rviz +++ b/ast_stack/rviz/move_base_tuning.rviz @@ -241,7 +241,7 @@ Visualization Manager: Value: true - Class: rviz/MarkerArray Enabled: true - Marker Topic: /explore_lite_revised/frontiers + Marker Topic: /ast_explore_lite/frontiers Name: MarkerArray Namespaces: {} diff --git a/explore_stack/worlds/empty.world b/ast_stack/worlds/empty.world similarity index 100% rename from explore_stack/worlds/empty.world rename to ast_stack/worlds/empty.world diff --git a/ast_stack/worlds/p_worlds/detailed_2_inner.world b/ast_stack/worlds/p_worlds/detailed_2_inner.world new file mode 100644 index 0000000..225a473 --- /dev/null +++ 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0 -4e-06 1.58436 + + + + model://cr2_gazebo/models/ss_hq4/413_simple_table + '413_simple_table_clone_clone_0' + 0.738097 -9.0547 0.415678 -9e-06 1e-06 1.58439 + + + + + + + model://cr2_gazebo/models/ss_hq4/413_table + '413_table_1' + 1.35826 -6.55524 0.415677 -1e-06 -6e-06 1.57798 + + + + model://cr2_gazebo/models/ss_hq4/413_table + '413_table_2' + 0.711378 -7.8122 0.415681 1.2e-05 -6e-06 -1.55968 + + + + model://cr2_gazebo/models/ss_hq4/413_table + '413_table_3' + 0.715416 -6.55909 0.41568 -3e-06 -0 -1.56994 + + + + model://cr2_gazebo/models/ss_hq4/413_table + '413_table_4' + 1.35714 -7.80696 0.415681 1.2e-05 -6e-06 1.58535 + + + + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_2' + 0.187999 -6.40878 0.281792 -1e-06 -1e-06 1.56988 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_3' + 0.081497 -7.01654 0.281792 -1e-06 2e-06 1.56307 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_4' + 0.166702 -7.70382 0.281792 -0 -7e-06 1.57768 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_4_clone' + 0.058897 -8.30282 0.281792 0 -0 1.55151 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_4_clone_0' + 0.045568 -5.03866 0.281792 0 -0 1.55331 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_4_clone_clone' + 0.172639 -8.96147 0.281792 0 -0 1.55151 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_4_clone_clone_0' + 0.035102 -9.56899 0.281792 0 -0 1.55151 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_4_clone_clone_1' + 0.675891 -9.98419 0.281792 -1.2e-05 -1.9e-05 -3.12273 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_4_clone_clone_2' + 1.40384 -9.95187 0.281793 3e-06 2e-06 3.13307 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_4_clone_clone_3' + 0.638343 -4.35233 0.281792 -7e-06 2e-06 0.022867 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_5' + 0.112145 -5.70863 0.281792 -2e-06 3e-06 1.60424 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_6' + 1.87273 -5.0823 0.281792 0 0 -1.57166 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_6_clone' + 1.96064 -5.71851 0.281792 0 0 -1.57167 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_6_clone_0' + 1.8845 -6.35544 0.281793 3e-06 8e-06 -1.5717 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_6_clone_1' + 1.97354 -6.95747 0.281793 2e-06 -2e-06 -1.5716 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_6_clone_2' + 1.87867 -7.58068 0.281792 -4e-06 -5e-06 -1.57149 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_6_clone_3' + 1.97177 -8.1842 0.281792 -1e-06 -1e-06 -1.57159 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_6_clone_4' + 1.88943 -8.8136 0.281792 -1e-06 -0 -1.57177 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_6_clone_5' + 2.00014 -9.42261 0.281789 7e-06 -5e-06 -1.57182 + + + + model://cr2_gazebo/models/ss_hq4/413_meeting_chair + '413_meeting_chair_7' + 1.33346 -4.37606 0.281793 4e-06 8e-06 0.034098 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + model://cr2_gazebo/models/ss_hq4/hall_table + hall_table + -1.34208 10.4197 0.237286 0 -4e-06 -1.57817 + + + + model://cr2_gazebo/models/ss_hq4/414_quartet_table + 414_quartet_table' + 4.88042 -0.524938 0.442357 0 0 -1.5605 + + + + + + model://cr2_gazebo/models/ss_hq4/414_double_table + '''''414_double_table_clone_0''''' + 5.55518 3.1704 0.440048 0.010783 3e-06 -0.012795 + + + + model://cr2_gazebo/models/ss_hq4/414_double_table + '''''414_double_table_clone_0'''_clone'' + 5.23967 -3.95998 0.440053 0.010784 -0 3.12738 + + + + model://cr2_gazebo/models/ss_hq4/414_double_table + '''''414_double_table_clone_0''_clone''' + 1.95159 3.23402 0.440056 0.01077 -0 -0.013048 + + + + model://cr2_gazebo/models/ss_hq4/414_double_table + '''''414_double_table_clone_1''''' + 7.81453 1.99424 0.440059 0.010752 0 -1.59832 + + + + model://cr2_gazebo/models/ss_hq4/414_double_table + '''''414_double_table_clone_1'''_clone'' + 2.61267 -0.573744 0.440047 0.010772 -6e-06 1.58752 + + + + model://cr2_gazebo/models/ss_hq4/414_double_table + '''''414_double_table_clone_2''''' + 8.09862 -2.21125 0.440049 0.010769 5e-06 -1.55937 + + + + + model://cr2_gazebo/models/ss_hq4/414_wardbrode + 414_wardbrode + -0.178337 1.92734 1 1.5e-05 -0 1.57082 + + + + + model://cr2_gazebo/models/ss_hq4/403_sofa + 403_sofa + -3.42091 -1.67887 0.474968 -1e-06 -0 -3.11622 + + + + model://cr2_gazebo/models/ss_hq4/403_table + 403_table + -3.51471 -0.633251 0.370989 0 0 -3.12695 + + + + model://cr2_gazebo/models/ss_hq4/403_mini_table + 403_mini_table + -4.16602 1.15405 0.348625 0.001236 1e-05 -1.59612 + + + + + + + + + + + + + + + + + + + + + + + 3.83356 -0.3466 35.3539 0 1.4098 1.92418 + orbit + perspective + + + + diff --git a/explore_stack/worlds/turtlebot3_autorace.world b/ast_stack/worlds/turtlebot3_autorace.world similarity index 100% rename from explore_stack/worlds/turtlebot3_autorace.world rename to ast_stack/worlds/turtlebot3_autorace.world diff --git a/explore_stack/worlds/turtlebot3_house.world b/ast_stack/worlds/turtlebot3_house.world similarity index 100% rename from explore_stack/worlds/turtlebot3_house.world rename to ast_stack/worlds/turtlebot3_house.world diff --git a/explore_stack/worlds/turtlebot3_stage_1.world b/ast_stack/worlds/turtlebot3_stage_1.world similarity index 100% rename from explore_stack/worlds/turtlebot3_stage_1.world rename to ast_stack/worlds/turtlebot3_stage_1.world diff --git a/explore_stack/worlds/turtlebot3_stage_2.world b/ast_stack/worlds/turtlebot3_stage_2.world similarity index 100% rename from explore_stack/worlds/turtlebot3_stage_2.world rename to ast_stack/worlds/turtlebot3_stage_2.world diff --git a/explore_stack/worlds/turtlebot3_stage_3.world b/ast_stack/worlds/turtlebot3_stage_3.world similarity index 100% rename from explore_stack/worlds/turtlebot3_stage_3.world rename to ast_stack/worlds/turtlebot3_stage_3.world diff --git a/explore_stack/worlds/turtlebot3_stage_4.world b/ast_stack/worlds/turtlebot3_stage_4.world similarity index 100% rename from explore_stack/worlds/turtlebot3_stage_4.world rename to ast_stack/worlds/turtlebot3_stage_4.world diff --git a/explore_stack/worlds/turtlebot3_world.world b/ast_stack/worlds/turtlebot3_world.world similarity index 100% rename from explore_stack/worlds/turtlebot3_world.world rename to ast_stack/worlds/turtlebot3_world.world diff --git a/explore_lite_revised/launch/explore.launch b/explore_lite_revised/launch/explore.launch deleted file mode 100644 index 8498f13..0000000 --- a/explore_lite_revised/launch/explore.launch +++ /dev/null @@ -1,5 +0,0 @@ - - - - - \ No newline at end of file diff --git a/explore_lite_revised/launch/explore_costmap.launch b/explore_lite_revised/launch/explore_costmap.launch deleted file mode 100644 index 2b0acae..0000000 --- a/explore_lite_revised/launch/explore_costmap.launch +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/explore_stack/launch/explore_lite_revised.launch b/explore_stack/launch/explore_lite_revised.launch deleted file mode 100644 index 98b4ac6..0000000 --- a/explore_stack/launch/explore_lite_revised.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - diff --git a/explore_stack/launch/robot_launch.launch b/explore_stack/launch/robot_launch.launch deleted file mode 100644 index ffa23c9..0000000 --- a/explore_stack/launch/robot_launch.launch +++ /dev/null @@ -1,41 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/explore_stack/launch/robot_launch_manual_explore.launch b/explore_stack/launch/robot_launch_manual_explore.launch deleted file mode 100644 index cfc5829..0000000 --- a/explore_stack/launch/robot_launch_manual_explore.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/todolist b/todolist deleted file mode 100644 index bae3140..0000000 --- a/todolist +++ /dev/null @@ -1,4 +0,0 @@ -1) create autonomous package for launching single experiment -2) generalise this package to use parameters to operate experiment settings -3) write scripts for serving experiments set -4) find dataset to run and compare algorithms \ No newline at end of file diff --git a/velocity_topic_watchdog/CMakeLists.txt b/velocity_topic_watchdog/CMakeLists.txt index 0bc8850..8a850b5 100644 --- a/velocity_topic_watchdog/CMakeLists.txt +++ b/velocity_topic_watchdog/CMakeLists.txt @@ -133,7 +133,7 @@ include_directories( ## 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(velocity_topic_watchdog src/velocity_topic_watchdog.cpp) +add_executable(velocity_topic_watchdog src/velocity_topic_watchdog.cpp include/velocity_topic_watchdog/velocity_topic_watchdog.h) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the diff --git a/velocity_topic_watchdog/include/velocity_topic_watchdog/velocity_topic_watchdog.h b/velocity_topic_watchdog/include/velocity_topic_watchdog/velocity_topic_watchdog.h new file mode 100644 index 0000000..1fba6d9 --- /dev/null +++ b/velocity_topic_watchdog/include/velocity_topic_watchdog/velocity_topic_watchdog.h @@ -0,0 +1,10 @@ +// +// Created by user on 3/21/19. +// + +#ifndef PROJECT_VELOCITY_TOPIC_WATCHDOG_H +#define PROJECT_VELOCITY_TOPIC_WATCHDOG_H + +// todo make encapsulating class + +#endif //PROJECT_VELOCITY_TOPIC_WATCHDOG_H diff --git a/velocity_topic_watchdog/src/velocity_topic_watchdog.cpp b/velocity_topic_watchdog/src/velocity_topic_watchdog.cpp index cdfc8f4..7ab51bd 100644 --- a/velocity_topic_watchdog/src/velocity_topic_watchdog.cpp +++ b/velocity_topic_watchdog/src/velocity_topic_watchdog.cpp @@ -4,6 +4,7 @@ #include #include +#include "velocity_topic_watchdog/velocity_topic_watchdog.h" namespace velocity_topic_watchdog{ @@ -15,6 +16,7 @@ static const double DEFAULT_WATCHDOG_TIMEOUT (3.0); ros::Duration *watchdog_duration; double watchdog_timeout_param (3.0); +// Once timer since last message runs out callback activates void watchdogTimerCallback(const ros::TimerEvent &timerEvent){ ROS_INFO_STREAM("velocity_topic_watchdog activated!"); pub_ptr->publish(*stop_msg_ptr); @@ -25,6 +27,7 @@ void watchdogTimerCallback(const ros::TimerEvent &timerEvent){ void initGlobals(ros::NodeHandle &nh){ watchdog_duration = new ros::Duration(watchdog_timeout_param); + // initializing stop_msg fields stop_msg_ptr = new geometry_msgs::Twist(); stop_msg_ptr->linear.x = 0; stop_msg_ptr->linear.y = 0; @@ -64,6 +67,7 @@ void commandVelocityReceived(const geometry_msgs::Twist &msgIn){ } // namespace velocity_topic_watchdog + int main(int argc, char** argv){ ros::init(argc, argv, "velocity_topic_watchdog"); ros::NodeHandle nh;