From 810e2ce966e44aedb8eba79a1c623783198dad6e Mon Sep 17 00:00:00 2001 From: DmytroKushnir Date: Thu, 21 Mar 2019 18:44:24 +0000 Subject: [PATCH 1/2] ast_move_base usages renamed to ss_turtle3_move_base, housekeeping for launchers and etc --- ast_stack/launch/combined_bringup.launch | 6 +----- .../launch/combined_bringup_p_worlds.launch | 2 +- .../robot_launch_manual_explore_PC.launch | 2 +- ast_stack/launch/tuning_table.launch | 2 +- ast_stack/package.xml | 2 +- .../CMakeLists.txt | 19 +++++++++--------- .../launch/move_base.launch | 15 ++++++-------- .../package.xml | 20 ++++++++----------- .../costmap_common_params_waffle_pi.yaml | 0 .../dwa_local_planner_params_waffle_pi.yaml | 0 .../param/global_costmap_params.yaml | 0 .../param/local_costmap_params.yaml | 0 .../param/move_base.yaml | 0 13 files changed, 29 insertions(+), 39 deletions(-) rename {ast_move_base => ss_turtle3_move_base}/CMakeLists.txt (95%) rename {ast_move_base => ss_turtle3_move_base}/launch/move_base.launch (64%) rename {ast_move_base => ss_turtle3_move_base}/package.xml (81%) rename {ast_move_base => ss_turtle3_move_base}/param/costmap_common_params_waffle_pi.yaml (100%) rename {ast_move_base => ss_turtle3_move_base}/param/dwa_local_planner_params_waffle_pi.yaml (100%) rename {ast_move_base => ss_turtle3_move_base}/param/global_costmap_params.yaml (100%) rename {ast_move_base => ss_turtle3_move_base}/param/local_costmap_params.yaml (100%) rename {ast_move_base => ss_turtle3_move_base}/param/move_base.yaml (100%) diff --git a/ast_stack/launch/combined_bringup.launch b/ast_stack/launch/combined_bringup.launch index 0a51187..04531aa 100644 --- a/ast_stack/launch/combined_bringup.launch +++ b/ast_stack/launch/combined_bringup.launch @@ -1,8 +1,6 @@ - - @@ -19,7 +17,6 @@ - @@ -72,7 +69,7 @@ - + @@ -84,5 +81,4 @@ - diff --git a/ast_stack/launch/combined_bringup_p_worlds.launch b/ast_stack/launch/combined_bringup_p_worlds.launch index 19721f3..ad87579 100644 --- a/ast_stack/launch/combined_bringup_p_worlds.launch +++ b/ast_stack/launch/combined_bringup_p_worlds.launch @@ -73,7 +73,7 @@ - + diff --git a/ast_stack/launch/robot_launch_manual_explore_PC.launch b/ast_stack/launch/robot_launch_manual_explore_PC.launch index be83adc..4a3271f 100644 --- a/ast_stack/launch/robot_launch_manual_explore_PC.launch +++ b/ast_stack/launch/robot_launch_manual_explore_PC.launch @@ -17,7 +17,7 @@ - + diff --git a/ast_stack/launch/tuning_table.launch b/ast_stack/launch/tuning_table.launch index 85d4cda..b926fb7 100644 --- a/ast_stack/launch/tuning_table.launch +++ b/ast_stack/launch/tuning_table.launch @@ -72,7 +72,7 @@ - + diff --git a/ast_stack/package.xml b/ast_stack/package.xml index 20e72cd..ae3e102 100644 --- a/ast_stack/package.xml +++ b/ast_stack/package.xml @@ -53,7 +53,7 @@ - explore_lite + ast_explore_lite diff --git a/ast_move_base/CMakeLists.txt b/ss_turtle3_move_base/CMakeLists.txt similarity index 95% rename from ast_move_base/CMakeLists.txt rename to ss_turtle3_move_base/CMakeLists.txt index e4bd55d..576ca9a 100644 --- a/ast_move_base/CMakeLists.txt +++ b/ss_turtle3_move_base/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(ast_move_base) +project(ss_turtle3_move_base) ## Compile as C++11, supported in ROS Kinetic and newer # add_compile_options(-std=c++11) @@ -8,9 +8,10 @@ project(ast_move_base) ## 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 + std_msgs + geometry_msgs + roscpp + rospy ) ## System dependencies are found with CMake's conventions @@ -104,7 +105,7 @@ find_package(catkin REQUIRED COMPONENTS ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( # INCLUDE_DIRS include -# LIBRARIES ast_move_base +# LIBRARIES ss_turtle3_move_base # CATKIN_DEPENDS geometry_msg roscpp rospy # DEPENDS system_lib ) @@ -116,13 +117,13 @@ catkin_package( ## Specify additional locations of header files ## Your package locations should be listed before other locations include_directories( -# include +# includ ${catkin_INCLUDE_DIRS} ) ## Declare a C++ library # add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/ast_move_base.cpp +# src/${PROJECT_NAME}/ss_turtle3_move_base.cpp # ) ## Add cmake target dependencies of the library @@ -133,7 +134,7 @@ 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(${PROJECT_NAME}_node src/ast_move_base_node.cpp) +# add_executable(${PROJECT_NAME}_node src/ss_turtle3_move_base_node.cpp) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the @@ -190,7 +191,7 @@ include_directories( ############# ## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_ast_move_base.cpp) +# catkin_add_gtest(${PROJECT_NAME}-test test/test_ss_turtle3_move_base.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif() diff --git a/ast_move_base/launch/move_base.launch b/ss_turtle3_move_base/launch/move_base.launch similarity index 64% rename from ast_move_base/launch/move_base.launch rename to ss_turtle3_move_base/launch/move_base.launch index c05fd64..b0f2dc5 100644 --- a/ast_move_base/launch/move_base.launch +++ b/ss_turtle3_move_base/launch/move_base.launch @@ -1,6 +1,3 @@ - - - @@ -15,22 +12,22 @@ - + - + - + - + - + - + diff --git a/ast_move_base/package.xml b/ss_turtle3_move_base/package.xml similarity index 81% rename from ast_move_base/package.xml rename to ss_turtle3_move_base/package.xml index 545d896..756d301 100644 --- a/ast_move_base/package.xml +++ b/ss_turtle3_move_base/package.xml @@ -1,8 +1,8 @@ - ast_move_base + ss_turtle3_move_base 0.0.0 - The ast_move_base package + The ss_turtle3_move_base package @@ -19,7 +19,7 @@ - + @@ -49,15 +49,11 @@ catkin - geometry_msg - roscpp - rospy - geometry_msg - roscpp - rospy - geometry_msg - roscpp - rospy + std_msgs + geometry_msgs + roscpp + rospy + diff --git a/ast_move_base/param/costmap_common_params_waffle_pi.yaml b/ss_turtle3_move_base/param/costmap_common_params_waffle_pi.yaml similarity index 100% rename from ast_move_base/param/costmap_common_params_waffle_pi.yaml rename to ss_turtle3_move_base/param/costmap_common_params_waffle_pi.yaml diff --git a/ast_move_base/param/dwa_local_planner_params_waffle_pi.yaml b/ss_turtle3_move_base/param/dwa_local_planner_params_waffle_pi.yaml similarity index 100% rename from ast_move_base/param/dwa_local_planner_params_waffle_pi.yaml rename to ss_turtle3_move_base/param/dwa_local_planner_params_waffle_pi.yaml diff --git a/ast_move_base/param/global_costmap_params.yaml b/ss_turtle3_move_base/param/global_costmap_params.yaml similarity index 100% rename from ast_move_base/param/global_costmap_params.yaml rename to ss_turtle3_move_base/param/global_costmap_params.yaml diff --git a/ast_move_base/param/local_costmap_params.yaml b/ss_turtle3_move_base/param/local_costmap_params.yaml similarity index 100% rename from ast_move_base/param/local_costmap_params.yaml rename to ss_turtle3_move_base/param/local_costmap_params.yaml diff --git a/ast_move_base/param/move_base.yaml b/ss_turtle3_move_base/param/move_base.yaml similarity index 100% rename from ast_move_base/param/move_base.yaml rename to ss_turtle3_move_base/param/move_base.yaml From 9de6cf382764de9f3d65a2fb6cc3cc95e6166b97 Mon Sep 17 00:00:00 2001 From: DmytroKushnir Date: Thu, 21 Mar 2019 19:18:41 +0000 Subject: [PATCH 2/2] move_base part deleted added git repo to .rosinstall --- docker/turtlebot3.rosinstall | 5 + ss_turtle3_move_base/CMakeLists.txt | 200 ------------------ ss_turtle3_move_base/launch/move_base.launch | 36 ---- ss_turtle3_move_base/package.xml | 64 ------ .../costmap_common_params_waffle_pi.yaml | 13 -- .../dwa_local_planner_params_waffle_pi.yaml | 52 ----- .../param/global_costmap_params.yaml | 13 -- .../param/local_costmap_params.yaml | 15 -- ss_turtle3_move_base/param/move_base.yaml | 12 -- 9 files changed, 5 insertions(+), 405 deletions(-) delete mode 100644 ss_turtle3_move_base/CMakeLists.txt delete mode 100644 ss_turtle3_move_base/launch/move_base.launch delete mode 100644 ss_turtle3_move_base/package.xml delete mode 100644 ss_turtle3_move_base/param/costmap_common_params_waffle_pi.yaml delete mode 100644 ss_turtle3_move_base/param/dwa_local_planner_params_waffle_pi.yaml delete mode 100644 ss_turtle3_move_base/param/global_costmap_params.yaml delete mode 100644 ss_turtle3_move_base/param/local_costmap_params.yaml delete mode 100644 ss_turtle3_move_base/param/move_base.yaml diff --git a/docker/turtlebot3.rosinstall b/docker/turtlebot3.rosinstall index a22c152..309ce4c 100644 --- a/docker/turtlebot3.rosinstall +++ b/docker/turtlebot3.rosinstall @@ -17,3 +17,8 @@ uri: https://github.com/SoftServeSAG/ActiveSlamTest.git version: kinetic-devel local-name: activeslam + +- git: + uri: https://github.com/SoftServeSAG/ss_tutrle3.git + version: kinetic-devel + local-name: ss_turtle3_move_base diff --git a/ss_turtle3_move_base/CMakeLists.txt b/ss_turtle3_move_base/CMakeLists.txt deleted file mode 100644 index 576ca9a..0000000 --- a/ss_turtle3_move_base/CMakeLists.txt +++ /dev/null @@ -1,200 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ss_turtle3_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 - std_msgs - geometry_msgs - 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 ss_turtle3_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( -# includ - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/ss_turtle3_move_base.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/ss_turtle3_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_ss_turtle3_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/ss_turtle3_move_base/launch/move_base.launch b/ss_turtle3_move_base/launch/move_base.launch deleted file mode 100644 index b0f2dc5..0000000 --- a/ss_turtle3_move_base/launch/move_base.launch +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ss_turtle3_move_base/package.xml b/ss_turtle3_move_base/package.xml deleted file mode 100644 index 756d301..0000000 --- a/ss_turtle3_move_base/package.xml +++ /dev/null @@ -1,64 +0,0 @@ - - - ss_turtle3_move_base - 0.0.0 - The ss_turtle3_move_base package - - - - - user - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - std_msgs - geometry_msgs - roscpp - rospy - - - - - - - - - diff --git a/ss_turtle3_move_base/param/costmap_common_params_waffle_pi.yaml b/ss_turtle3_move_base/param/costmap_common_params_waffle_pi.yaml deleted file mode 100644 index 446b322..0000000 --- a/ss_turtle3_move_base/param/costmap_common_params_waffle_pi.yaml +++ /dev/null @@ -1,13 +0,0 @@ -#obstacle_range: 3.0 -#raytrace_range: 3.5 - -#footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]] -#robot_radius: 0.17 - -#inflation_radius: 1.0 -inflation_radius: 3.0 -#cost_scaling_factor: 3.0 - -#map_type: costmap -#observation_sources: scan -#scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true} diff --git a/ss_turtle3_move_base/param/dwa_local_planner_params_waffle_pi.yaml b/ss_turtle3_move_base/param/dwa_local_planner_params_waffle_pi.yaml deleted file mode 100644 index b8cac36..0000000 --- a/ss_turtle3_move_base/param/dwa_local_planner_params_waffle_pi.yaml +++ /dev/null @@ -1,52 +0,0 @@ -DWAPlannerROS: - -# Robot Configuration Parameters -# max_vel_x: 0.26 -# min_vel_x: -0.26 - -# max_vel_y: 0.0 -# min_vel_y: 0.0 - -# The velocity when robot is moving in a straight line -# max_trans_vel: 0.26 -# min_trans_vel: 0.13 - -# max_rot_vel: 1.82 -# min_rot_vel: 0.9 - - acc_lim_x: 3.0 -# acc_lim_y: 0.0 - acc_lim_theta: 6.0 - prune_plan: true # also with decrease of global planning frequency -# Goal Tolerance Parametes - xy_goal_tolerance: 0.2 - yaw_goal_tolerance: 0.4 -# latch_xy_goal_tolerance: false - - -# Forward Simulation Parameters - sim_time: 3.0 - vx_samples: 15 - vy_samples: 0 - vtheta_samples: 15 -# controller_frequency: 10.0 - -# Trajectory Scoring Parameters -# path_distance_bias: 32.0 -# goal_distance_bias: 20.0 - occdist_scale: 0.01 - forward_point_distance: 0.2 -# stop_time_buffer: 0.2 - scaling_speed: 0.1 # increase probability of successive rotation -# max_scaling_factor: 0.2 - -# Oscillation Prevention Parameters -# oscillation_reset_dist: 0.05 - -# Debugging -# publish_traj_pc : true -# publish_cost_grid_pc: true - -# Performance - sim_granularity: 0.1 - angular_sim_granularity: 0.3 \ No newline at end of file diff --git a/ss_turtle3_move_base/param/global_costmap_params.yaml b/ss_turtle3_move_base/param/global_costmap_params.yaml deleted file mode 100644 index e731444..0000000 --- a/ss_turtle3_move_base/param/global_costmap_params.yaml +++ /dev/null @@ -1,13 +0,0 @@ -global_costmap: -# global_frame: /map -# robot_base_frame: /base_footprint - - update_frequency: 2.0 -# update_frequency: 5.0 -# publish_frequency: 10.0 -# transform_tolerance: 0.5 - -# static_map: true - resolution: 1.3 # FIXME find out why does not working - footprint_padding: 0.10 # does not allow to plan within too narrow spaces - diff --git a/ss_turtle3_move_base/param/local_costmap_params.yaml b/ss_turtle3_move_base/param/local_costmap_params.yaml deleted file mode 100644 index 1156bc6..0000000 --- a/ss_turtle3_move_base/param/local_costmap_params.yaml +++ /dev/null @@ -1,15 +0,0 @@ -local_costmap: -# global_frame: /odom -# robot_base_frame: /base_footprint - - update_frequency: 10.0 -# update_frequency: 5.0 -# publish_frequency: 10.0 -# transform_tolerance: 0.5 - -# static_map: false -# rolling_window: true -# width: 3 -# height: 3 - resolution: 0.05 - diff --git a/ss_turtle3_move_base/param/move_base.yaml b/ss_turtle3_move_base/param/move_base.yaml deleted file mode 100644 index b1a9efa..0000000 --- a/ss_turtle3_move_base/param/move_base.yaml +++ /dev/null @@ -1,12 +0,0 @@ -#shutdown_costmaps: false -#controller_frequency: 10.0 -#controller_frequency: 5.0 -#planner_patience: 5.0 -#planner_patience: 15.0 -#controller_patience: 15.0 -#conservative_reset_dist: 3.0 -planner_frequency: 2.0 -oscillation_timeout: 3.0 -oscillation_distance: 0.1 - -