ROS Kinetic/Melodic clean-up

README.md

@@ -1,28 +1,9 @@
-# driver_base
-You'll also need the driver_base package, , you could get this package via:
-
-```sudo apt-get install ros-<distro>-driver-base```
-
 # f110_system
-Code/Drivers onboard f110 race cars.
-
-## ackermann_msgs
-The ROS message definitions for ackermann steering.
-
-## hokuyo_node
-The driver for Hokuyo 10LX and Hokuyo 30LX.
-
-## joystick_drivers
-The driver for Linux compatible joysticks
-
-## racecar
-The package including launch files handling starting the car, and the parameters for Odometry tuning, motor/servo settings.
-
-## serial
-A cross-platform library for interfacing with rs-232 serial like ports written in C++.
+Code/Drivers onboard f1/10 racecars.
 
-## vesc
-The package handling communication with the VESC 6 Plus.
+## f1tenth_racecar
+The package including launch files handling starting the car, and the parameters for Odometry tuning, and motor/servo settings.
+This package is based heavily on the [MIT Racecar](https://mit-racecar.github.io) project.
 
 ## waypoint_logger
-The node that records the car's current position in the world, requires particle_filter to work.
+The node that records the car's current position in the world.

racecar/ackermann_cmd_mux/CMakeLists.txt → ackermann_cmd_mux/CMakeLists.txt

@@ -1,13 +1,14 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(ackermann_cmd_mux)
+
 find_package(catkin REQUIRED COMPONENTS 
-	roscpp 
-	pluginlib 
-	nodelet 
-	dynamic_reconfigure 
-	ackermann_msgs
-	std_msgs
-	rospy
+  ackermann_msgs
+  dynamic_reconfigure 
+  nodelet 
+  pluginlib 
+  roscpp 
+  rospy
+  std_msgs
 )
 
 # pkg-config support
@@ -22,10 +23,10 @@ endif()
 generate_dynamic_reconfigure_options(cfg/reload.cfg)
 
 catkin_package(
-   INCLUDE_DIRS include
-   LIBRARIES ${PROJECT_NAME}_nodelet
-   CATKIN_DEPENDS roscpp pluginlib nodelet dynamic_reconfigure ackermann_msgs rospy std_msgs
-   DEPENDS yaml-cpp
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}_nodelet
+  CATKIN_DEPENDS roscpp pluginlib nodelet dynamic_reconfigure ackermann_msgs rospy std_msgs
+  DEPENDS yaml-cpp
 )
 
 include_directories(include ${catkin_INCLUDE_DIRS} ${yaml-cpp_INCLUDE_DIRS})
@@ -38,17 +39,17 @@ add_dependencies(${PROJECT_NAME}_nodelet ${PROJECT_NAME}_gencfg)
 target_link_libraries(${PROJECT_NAME}_nodelet ${catkin_LIBRARIES} ${yaml-cpp_LIBRARIES})
 
 install(TARGETS ${PROJECT_NAME}_nodelet
-        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 )
 install(DIRECTORY include/${PROJECT_NAME}/
-        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 install(DIRECTORY plugins
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 install(DIRECTORY launch
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 install(DIRECTORY param
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )

racecar/ackermann_cmd_mux/package.xml → ackermann_cmd_mux/package.xml

@@ -1,4 +1,6 @@
-<package>
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>ackermann_cmd_mux</name>
   <version>0.7.0</version>
   <description>
@@ -8,33 +10,24 @@
      together with their priority and timeout are configured through a YAML file, that can be reload at
      runtime. Blatantly derived / copied from yujin_ocs/yocs_cmd_vel_mux.
   </description>
-  <author>Jorge Santos Simon</author>
-  <author>Michael Boulet</author>
   <maintainer email="[email protected]">Michael Boulet</maintainer>
   <license>BSD</license>
   <url type="website">http://ros.org/wiki/ackermann_cmd_mux</url>
   <url type="repository">https://github.mit.edu/racecar/racecar</url>
   <url type="bugtracker">https://github.mit.edu/racecar/racecar/issues</url>
+  <author>Jorge Santos Simon</author>
+  <author>Michael Boulet</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
-  <build_depend>nodelet</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
-  <build_depend>pluginlib</build_depend>
-  <build_depend>ackermann_msgs</build_depend>
-  <build_depend>yaml-cpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-
-  <run_depend>roscpp</run_depend>
-  <run_depend>ackermann_msgs</run_depend>
-  <run_depend>pluginlib</run_depend>
-  <run_depend>nodelet</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>yaml-cpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>std_msgs</run_depend>
+  <depend>ackermann_msgs</depend>
+  <depend>dynamic_reconfigure</depend>
+  <depend>nodelet</depend>
+  <depend>pluginlib</depend>
+  <depend>roscpp</depend>
+  <depend>rospy</depend>
+  <depend>std_msgs</depend>
+  <depend>yaml-cpp</depend>
 
   <export>
     <nodelet plugin="${prefix}/plugins/nodelets.xml" />

f1tenth_racecar/CMakeLists.txt

@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(f1tenth_racecar)
+
+find_package(catkin REQUIRED
+  actionlib
+  rospy
+  rosservice
+  rostopic
+  sensor_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+    ackermann_cmd_mux
+    joy
+    rosbag
+    rostopic
+    rviz
+    tf2_ros
+    tf
+    urg_node
+)
+
+install(PROGRAMS
+  scripts/joy_teleop.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY maps
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY rviz
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

f1tenth_racecar/config/joy_teleop_nx.yaml

@@ -0,0 +1,51 @@
+joy_node:
+  dev: /dev/input/joypad-f710
+  deadzone: 0.01
+  autorepeat_rate: 20
+  coalesce_interval: 0.01
+
+teleop:
+  # Default mode - Stop for safety
+  default:
+    type: topic
+    is_default: true
+    message_type: ackermann_msgs/AckermannDriveStamped
+    topic_name: low_level/ackermann_cmd_mux/input/teleop
+    message_value:
+      -
+        target: drive.speed
+        value: 0.0
+      -
+        target: drive.steering_angle
+        value: 0.0
+
+  # Enable Human control by holding Left Bumper
+  human_control:
+    type: topic
+    message_type: ackermann_msgs/AckermannDriveStamped
+    topic_name: low_level/ackermann_cmd_mux/input/teleop
+    deadman_buttons: [4]
+    axis_mappings:
+      -
+        axis: 1
+        target: drive.speed
+        scale: 5.0                   # joystick will command plus or minus 2 meters / second
+        offset: 0.0
+      -
+        axis: 0
+        target: drive.steering_angle
+        scale: 0.34                  # joystick will command plus or minus ~20 degrees steering angle
+        offset: 0.0
+
+  # Enable autonomous control by pressing right bumper
+  # This switch causes the joy_teleop to stop sending messages to input/teleop
+  # And send messages to /dev/null (an unused ROS topic)
+  autonomous_control:
+    type: topic
+    message_type: std_msgs/Int8
+    topic_name: /dev/null
+    deadman_buttons: [5]
+    message_value:
+      -
+        target: data
+        value: 0