init mrs_aloam_core

.github/workflows/ros_build_test.yml

@@ -0,0 +1,25 @@
+name: ros_build_test
+
+on:
+
+  push:
+    branches: [ devel ]
+
+    paths-ignore:
+      - '**/README.md'
+
+    pull_request:
+      branches: [ master ]
+
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build:
+    uses: ctu-mrs/ci_scripts/.github/workflows/ros_build_test.yml@master
+    secrets:
+      PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}

.github/workflows/ros_package_build.yml

@@ -0,0 +1,22 @@
+name: ros_package_build
+
+on:
+
+  push:
+    branches: [ master ]
+
+    paths-ignore:
+      - '**/README.md'
+
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build:
+    uses: ctu-mrs/ci_scripts/.github/workflows/ros_package_build.yml@master
+    secrets:
+      PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}

.gitignore

@@ -0,0 +1,3 @@
+*.sw*
+
+.gitman

.gitman.yml

@@ -0,0 +1,26 @@
+location: .gitman
+sources:
+  - repo: https://github.com/ctu-mrs/aloam
+    name: aloam
+    rev: master
+    type: git
+    params:
+    sparse_paths:
+      -
+    links:
+      - source: ''
+        target: ros_packages/aloam
+    scripts:
+      - git submodule update --init --recursive
+  - repo: https://github.com/ctu-mrs/mrs_aloam_estimator_plugin
+    name: mrs_aloam_estimator_plugin
+    rev: master
+    type: git
+    params:
+    sparse_paths:
+      -
+    links:
+      - source: ''
+        target: ros_packages/mrs_aloam_estimator_plugin
+    scripts:
+      - git submodule update --init --recursive

LICENSE

@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2023, Multi-robot Systems (MRS) group at Czech Technical University in Prague
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -0,0 +1,14 @@
+# MRS ALOAM Core
+
+Metapackage containing submodules, launch files, config files, scripts, and other files necessary for running the MRS UAV system with ALOAM state estimation.
+
+> :warning: **Attention please: This README needs work.**
+>
+> The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid.
+
+## Submodules
+
+| Repository                                                                          |
+|-------------------------------------------------------------------------------------|
+| [aloam](https://github.com/ctu-mrs/aloam)                                           |
+| [mrs_aloam_estimator_plugin](https://github.com/ctu-mrs/mrs_aloam_estimator_plugin) |

ros_packages/aloam

@@ -0,0 +1 @@
+../.gitman/aloam/.

ros_packages/mrs_aloam_core/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(mrs_aloam_core)
+
+set(CATKIN_DEPENDENCIES
+    cmake_modules
+  )
+
+find_package(catkin REQUIRED COMPONENTS
+  ${CATKIN_DEPENDENCIES}
+  )
+
+catkin_package(
+  CATKIN_DEPENDS ${CATKIN_DEPENDENCIES}
+  )

ros_packages/mrs_aloam_core/custom_configs/mrs_pcl_tools/OS0-128.yaml

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+lidar3d:
+
+  downsampling:
+    dynamic_row_selection: false
+    row_step: 8
+    col_step: 16

ros_packages/mrs_aloam_core/custom_configs/mrs_pcl_tools/OS0-16.yaml

@@ -0,0 +1,6 @@
+lidar3d:
+
+  downsampling:
+    dynamic_row_selection: false
+    row_step: 1
+    col_step: 16

ros_packages/mrs_aloam_core/custom_configs/mrs_pcl_tools/OS0-32.yaml

@@ -0,0 +1,6 @@
+lidar3d:
+
+  downsampling:
+    dynamic_row_selection: false
+    row_step: 1
+    col_step: 1

ros_packages/mrs_aloam_core/custom_configs/mrs_pcl_tools/OS0-64.yaml

@@ -0,0 +1,6 @@
+lidar3d:
+
+  downsampling:
+    dynamic_row_selection: false
+    row_step: 4
+    col_step: 16

ros_packages/mrs_aloam_core/custom_configs/mrs_pcl_tools/simulation.yaml

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+scope_timer:
+  enable: false
+  log_filename: ""
+
+lidar3d:
+
+  frequency: 10 # [Hz]
+  vfov: 90      # [deg]
+
+  republish: true
+  keep_organized: true
+
+  clip:
+    range:
+      use: true
+      min: 0.5  # [m]
+      max: 50.0 # [m]
+    intensity:
+      use: false
+      threshold: 35
+      range: 5.0
+    reflectivity:
+      use: false
+      threshold: 25
+      range: 5.0
+
+  cropbox:
+    use: false
+    crop_inside: false # if true, points inside the box will be cropped, otherwise points outside will be cropped
+    frame_id: rtk_origin
+    min: [-32.0, -35.0, 6.0]
+    max: [35.0, 5.0, 19.0]
+
+  ground_removal:
+    use: false
+    range:
+      use: true
+    static_frame_id: gps_origin
+    max_precrop_height: 2.0
+    ransac:
+      max_inlier_distance: 0.5
+    offset: 1.0
+    publish_plane_marker: true
+
+  downsampling:
+    dynamic_row_selection: false
+    row_step: 1
+    col_step: 1
+
+rplidar:
+  republish: false
+  voxel_resolution: 0.05

ros_packages/mrs_aloam_core/custom_configs/mrs_pcl_tools/uav.yaml

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+scope_timer:
+  enable: false
+  log_filename: ""
+
+lidar3d:
+
+  frequency: 10 # [Hz]
+  vfov: 90      # [deg]
+
+  republish: true
+  keep_organized: true
+
+  clip:
+    range:
+      use: true
+      min: 0.5  # [m]
+      max: 50.0 # [m]
+    intensity:
+      use: true
+      threshold: 35
+      range: 5.0
+    reflectivity:
+      use: false
+      threshold: 25
+      range: 5.0
+
+  cropbox:
+    use: false
+    crop_inside: false # if true, points inside the box will be cropped, otherwise points outside will be cropped
+    frame_id: rtk_origin
+    min: [-32.0, -35.0, 6.0]
+    max: [35.0, 5.0, 19.0]
+
+  ground_removal:
+    use: false
+    range:
+      use: true
+    static_frame_id: gps_origin
+    max_precrop_height: 2.0
+    ransac:
+      max_inlier_distance: 0.5
+    offset: 1.0
+    publish_plane_marker: true
+
+  downsampling:
+    dynamic_row_selection: false
+    row_step: 1
+    col_step: 1
+
+rplidar:
+  republish: false
+  voxel_resolution: 0.05

ros_packages/mrs_aloam_core/launch/rviz.launch

@@ -0,0 +1,13 @@
+<launch>
+
+  <arg name="UAV_NAME" default="$(env UAV_NAME)"/>
+
+  <group>
+
+    <node pkg="mrs_aloam_core" type="refactor_rviz_config.sh" name="anyname" output="screen" />
+
+    <node pkg="rviz" type="rviz" name="rviz" args="-d /tmp/default.rviz" launch-prefix="bash -c 'sleep 1; $0 $@' " />
+
+  </group>
+
+</launch>