diff --git a/.vscode/browse.vc.db-shm b/.vscode/browse.vc.db-shm new file mode 100644 index 0000000..7dbb85b Binary files /dev/null and b/.vscode/browse.vc.db-shm differ diff --git a/.vscode/browse.vc.db-wal b/.vscode/browse.vc.db-wal new file mode 100644 index 0000000..cfc9ad5 Binary files /dev/null and b/.vscode/browse.vc.db-wal differ diff --git a/CMakeLists.txt b/CMakeLists.txt index 11d9710..8c302c7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.0.2) project(uml_hri_nerve_navigation) ## Compile as C++11, supported in ROS Kinetic and newer -add_compile_options(-std=c++11) +add_compile_options(-std=c++14) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) @@ -18,6 +18,8 @@ find_package(catkin REQUIRED COMPONENTS move_base_msgs actionlib gazebo_msgs + tuw_local_controller_msgs + tuw_multi_robot_msgs ) ## System dependencies are found with CMake's conventions @@ -124,6 +126,8 @@ catkin_package( move_base_msgs actionlib gazebo_msgs + tuw_local_controller_msgs + tuw_multi_robot_msgs # DEPENDS system_lib ) @@ -160,6 +164,9 @@ add_executable(estop src/estop.cpp) add_executable(dord_calculator src/dord_calculator.cpp) add_executable(pose_publisher src/pose_publisher.cpp) +add_executable(ob_mover src/ob_mover.cpp) +add_executable(tuw_mb_mover src/tuw_mb_mover.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 @@ -177,6 +184,83 @@ add_dependencies(estop ${estop_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) add_dependencies(dord_calculator ${dord_calculator_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) add_dependencies(pose_publisher ${pose_publisher_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +add_dependencies(ob_mover ${ob_mover_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +add_dependencies(tuw_mb_mover ${ob_mover_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +target_link_libraries(tuw_mb_mover + ${catkin_LIBRARIES} + ) + +#### FILES FOR MULTIPLE ROBOT NAVIGATION #### + +add_executable(mbf_mover_node src/mbf_mover.cpp) +add_executable(move_base_mover_node src/move_base_mover.cpp) +add_executable(checker_node src/checker.cpp) +add_executable(move_base_checker_node src/move_base_checker.cpp) +add_executable(tuw_node src/tuw_node.cpp) +add_executable(tuw_goal_sender_node src/tuw_goal_sender.cpp) +add_executable(test_runner_node src/test_runner.cpp) +add_executable(graph_checker src/graph_checker.cpp) +add_executable(robot_checker_node src/robot_checker.cpp) + +add_executable(tester_goal_pub_node src/tester_goal_publisher.cpp) + +add_executable(ant src/automated_navigation_tester.cpp) +add_dependencies(ant ${ob_mover_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(ant + ${catkin_LIBRARIES} +) + +add_executable(tester_checker_node src/tester_checker.cpp) +add_dependencies(tester_checker_node ${ob_mover_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(tester_checker_node + ${catkin_LIBRARIES} +) + +add_executable(odom_filter_node src/rosaria_odom_filter.cpp) +add_dependencies(odom_filter_node ${ob_mover_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(odom_filter_node + ${catkin_LIBRARIES} +) + + +target_link_libraries(tester_goal_pub_node + ${catkin_LIBRARIES} +) + +target_link_libraries(mbf_mover_node + ${catkin_LIBRARIES} +) +target_link_libraries(move_base_mover_node + ${catkin_LIBRARIES} +) +target_link_libraries(checker_node + ${catkin_LIBRARIES} +) +target_link_libraries(move_base_checker_node + ${catkin_LIBRARIES} +) + +target_link_libraries(tuw_node + ${catkin_LIBRARIES} +) + +target_link_libraries(tuw_goal_sender_node + ${catkin_LIBRARIES} +) +target_link_libraries(test_runner_node + ${catkin_LIBRARIES} +) +target_link_libraries(graph_checker + ${catkin_LIBRARIES} + ) +target_link_libraries(robot_checker_node + ${catkin_LIBRARIES} + ) +#### FILES FOR MOVE BASE FLEX #### + + ## Specify libraries to link a library or executable target against # target_link_libraries(${PROJECT_NAME}_node # ${catkin_LIBRARIES} @@ -203,6 +287,11 @@ target_link_libraries(pose_publisher ${catkin_LIBRARIES} ) +target_link_libraries(ob_mover + ${catkin_LIBRARIES} +) + + ############# ## Install ## ############# diff --git a/README.md b/README.md index 2136b1a..6abb4a3 100644 --- a/README.md +++ b/README.md @@ -196,6 +196,21 @@ To create a level launch file, copy one of the premade level launch files in bot Example command to start logging a test that is being performed in level1 and with the fetch robot > roslaunch uml_hri_nerve_navigation start_loggers.launch level:=level1 robot:=fetch +## Automated Navigation Tester (ANT) +The TestRunner class takes in a JSON file which contains the test definition. The TestRunner class parses the JSON file passed in and sets up the test scenario based on the information. There are two member functions currently present in the TestRunner which can be used to run multiple iterations of the test scenario automatically: +* **run_test_repeatedly(num_repetitions)** - Using this function for running tests quits and restarts all the launch files such as gazebo, map server, etc. +* **run_test_in_person(num_repetitions)** - Using this function for runs gazebo simulation and map server only once and at the end of each iterations it deletes the robot models and kills the other launch files. At the end of each test iteration, there should be a string "continue" published to the /tester_status topic for continuing running another iteration of the test. This feature can be useful when setting up a physical robot back at its starting position after an iteration is ended. + + Example command to start the tester: + > rosrun uml_hri_nerve_navigation test_runner_node + + Currently the tester takes number of iterations and name of the test definition JSON file through keyboard (stdin). + + Following command can be used to publish string "continue" to /tester_status topic: + > rostopic pub /tester_status std_msgs/String "data: 'continue'" + + **Note**: The way the tester is setup currently requires test definition JSON file to be placed under the test_defs directory. A sample test definition JSON file is present in the test_defs directory. All test definition files should follow same syntax as the sample file. + ## Available Arguments The maps that are able to be launched are the following: * level1 diff --git a/build/CATKIN_IGNORE b/build/CATKIN_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt new file mode 100644 index 0000000..3e4c015 --- /dev/null +++ b/build/CMakeCache.txt @@ -0,0 +1,621 @@ +# This is the CMakeCache file. +# For build in directory: /home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Builds the googlemock subproject +BUILD_GMOCK:BOOL=ON + +//Builds the googletest subproject +BUILD_GTEST:BOOL=OFF + +//Build shared libraries (DLLs). +BUILD_SHARED_LIBS:BOOL=ON + +//Catkin enable testing +CATKIN_ENABLE_TESTING:BOOL=ON + +//Prefix to apply to package generated via gendebian +CATKIN_PACKAGE_PREFIX:STRING= + +//Catkin skip testing +CATKIN_SKIP_TESTING:BOOL=OFF + +//Replace the CMake install command with a custom implementation +// using symlinks instead of copying resources +CATKIN_SYMLINK_INSTALL:BOOL=OFF + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//No help, variable specified on the command line. +CMAKE_BUILD_TYPE:STRING=Debug + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//No help, variable specified on the command line. +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/x86_64-linux-gnu-g++-7 + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-7 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-7 + +//Flags used by the compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the compiler during debug builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the compiler during release builds for minimum +// size. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds. +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the compiler during release builds with debug info. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//No help, variable specified on the command line. +CMAKE_C_COMPILER:FILEPATH=/usr/bin/x86_64-linux-gnu-gcc-7 + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler 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release builds. +CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//No help, variable specified on the command line. +CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=TRUE + +//Install path prefix, prepended onto install directories. +CMAKE_INSTALL_PREFIX:PATH=/usr/local + +//Path to a program. +CMAKE_LINKER:FILEPATH=/usr/bin/ld + +//Path to a program. +CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make + +//Flags used by the linker during the creation of modules. +CMAKE_MODULE_LINKER_FLAGS:STRING= + +//Flags used by the linker during debug builds. +CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_NM:FILEPATH=/usr/bin/nm + +//Path to a program. +CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy + +//Path to a program. +CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump + +//Value Computed by CMake +CMAKE_PROJECT_NAME:STATIC=uml_hri_nerve_navigation + +//Path to a program. +CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib + +//Flags used by the linker during the creation of dll's. +CMAKE_SHARED_LINKER_FLAGS:STRING= + +//Flags used by the linker during debug builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries. +CMAKE_STATIC_LINKER_FLAGS:STRING= + +//Flags used by the linker during debug builds. +CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Path to a program. +DOXYGEN_EXECUTABLE:FILEPATH=DOXYGEN_EXECUTABLE-NOTFOUND + +//Path to a program. +EMPY_EXECUTABLE:FILEPATH=/usr/bin/empy + +//Empy script +EMPY_SCRIPT:STRING=/usr/bin/empy + +//The directory containing a CMake configuration file for GMock. +GMock_DIR:PATH=GMock_DIR-NOTFOUND + +//Path to a file. +GTEST_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +GTEST_LIBRARY:FILEPATH=GTEST_LIBRARY-NOTFOUND + +//Path to a library. +GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +GTEST_MAIN_LIBRARY:FILEPATH=GTEST_MAIN_LIBRARY-NOTFOUND + +//Path to a library. +GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND + +//lsb_release executable was found +LSB_FOUND:BOOL=TRUE + +//Path to a program. +LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release + +//Path to a program. +NOSETESTS:FILEPATH=/usr/bin/nosetests-2.7 + +//Path to a program. +PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python2 + +//Specify specific Python version to use ('major.minor' or 'major') +PYTHON_VERSION:STRING=2 + +//Path to a library. +RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so + +//Enable debian style python package layout +SETUPTOOLS_DEB_LAYOUT:BOOL=ON + +//Name of the computer/site where compile is being run +SITE:STRING=armada-12 + +//LSB Distrib tag +UBUNTU:BOOL=TRUE + +//LSB Distrib - codename tag +UBUNTU_BIONIC:BOOL=TRUE + +//Path to a file. +_gmock_INCLUDES:FILEPATH=/usr/include/gmock/gmock.h + +//Path to a file. +_gmock_SOURCES:FILEPATH=/usr/src/gmock/src/gmock.cc + +//Path to a file. +_gtest_INCLUDES:FILEPATH=/usr/include/gtest/gtest.h + +//Path to a file. +_gtest_SOURCES:FILEPATH=/usr/src/gtest/src/gtest.cc + +//The directory containing a CMake configuration file for actionlib. +actionlib_DIR:PATH=/opt/ros/melodic/share/actionlib/cmake + +//The directory containing a CMake configuration file for actionlib_msgs. +actionlib_msgs_DIR:PATH=/opt/ros/melodic/share/actionlib_msgs/cmake + +//The directory containing a CMake configuration file for catkin. +catkin_DIR:PATH=/opt/ros/melodic/share/catkin/cmake + +//The directory containing a CMake configuration file for cpp_common. +cpp_common_DIR:PATH=/opt/ros/melodic/share/cpp_common/cmake + +//The directory containing a CMake configuration file for gazebo_msgs. +gazebo_msgs_DIR:PATH=/opt/ros/melodic/share/gazebo_msgs/cmake + +//The directory containing a CMake configuration file for gencpp. +gencpp_DIR:PATH=/opt/ros/melodic/share/gencpp/cmake + +//The directory containing a CMake configuration file for geneus. +geneus_DIR:PATH=/opt/ros/melodic/share/geneus/cmake + +//The directory containing a CMake configuration file for genlisp. +genlisp_DIR:PATH=/opt/ros/melodic/share/genlisp/cmake + +//The directory containing a CMake configuration file for genmsg. +genmsg_DIR:PATH=/opt/ros/melodic/share/genmsg/cmake + +//The directory containing a CMake configuration file for gennodejs. +gennodejs_DIR:PATH=/opt/ros/melodic/share/gennodejs/cmake + +//The directory containing a CMake configuration file for genpy. +genpy_DIR:PATH=/opt/ros/melodic/share/genpy/cmake + +//The directory containing a CMake configuration file for geometry_msgs. +geometry_msgs_DIR:PATH=/opt/ros/melodic/share/geometry_msgs/cmake + +//Value Computed by CMake +gmock_BINARY_DIR:STATIC=/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/gtest/googlemock + +//Dependencies for the target +gmock_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +gmock_SOURCE_DIR:STATIC=/usr/src/googletest/googlemock + +//Build all of Google Mock's own tests. +gmock_build_tests:BOOL=OFF + +//Dependencies for the target +gmock_main_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +googletest-distribution_BINARY_DIR:STATIC=/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/gtest + +//Value Computed by CMake +googletest-distribution_SOURCE_DIR:STATIC=/usr/src/googletest + +//Value Computed by CMake +gtest_BINARY_DIR:STATIC=/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/gtest/googlemock/gtest + +//Dependencies for the target +gtest_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +gtest_SOURCE_DIR:STATIC=/usr/src/googletest/googletest + +//Build gtest's sample programs. +gtest_build_samples:BOOL=OFF + +//Build all of gtest's own tests. +gtest_build_tests:BOOL=OFF + +//Disable uses of pthreads in gtest. +gtest_disable_pthreads:BOOL=OFF + +//Use shared (DLL) run-time lib even when Google Test is built +// as static lib. +gtest_force_shared_crt:BOOL=OFF + +//Build gtest with internal symbols hidden in shared libraries. +gtest_hide_internal_symbols:BOOL=OFF + +//Dependencies for the target +gtest_main_LIB_DEPENDS:STATIC=general;-lpthread;general;gtest; + +//Path to a library. +lib:FILEPATH=/opt/ros/melodic/lib/libmessage_filters.so + +//The directory containing a CMake configuration file for message_filters. +message_filters_DIR:PATH=/opt/ros/melodic/share/message_filters/cmake + +//The directory containing a CMake configuration file for message_generation. +message_generation_DIR:PATH=/opt/ros/melodic/share/message_generation/cmake + +//The directory containing a CMake configuration file for message_runtime. +message_runtime_DIR:PATH=/opt/ros/melodic/share/message_runtime/cmake + +//The directory containing a CMake configuration file for move_base_msgs. +move_base_msgs_DIR:PATH=/opt/ros/melodic/share/move_base_msgs/cmake + +//The directory containing a CMake configuration file for nav_msgs. +nav_msgs_DIR:PATH=/opt/ros/melodic/share/nav_msgs/cmake + +//The directory containing a CMake configuration file for rosconsole. +rosconsole_DIR:PATH=/opt/ros/melodic/share/rosconsole/cmake + +//The directory containing a CMake configuration file for roscpp. +roscpp_DIR:PATH=/opt/ros/melodic/share/roscpp/cmake + +//The directory containing a CMake configuration file for roscpp_serialization. +roscpp_serialization_DIR:PATH=/opt/ros/melodic/share/roscpp_serialization/cmake + +//The directory containing a CMake configuration file for roscpp_traits. +roscpp_traits_DIR:PATH=/opt/ros/melodic/share/roscpp_traits/cmake + +//The directory containing a CMake configuration file for rosgraph. +rosgraph_DIR:PATH=/opt/ros/melodic/share/rosgraph/cmake + +//The directory containing a CMake configuration file for rosgraph_msgs. +rosgraph_msgs_DIR:PATH=/opt/ros/melodic/share/rosgraph_msgs/cmake + +//The directory containing a CMake configuration file for rospy. +rospy_DIR:PATH=/opt/ros/melodic/share/rospy/cmake + +//The directory containing a CMake configuration file for rostime. +rostime_DIR:PATH=/opt/ros/melodic/share/rostime/cmake + +//The directory containing a CMake configuration file for sensor_msgs. +sensor_msgs_DIR:PATH=/opt/ros/melodic/share/sensor_msgs/cmake + +//The directory containing a CMake configuration file for std_msgs. 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+tuw_local_controller_msgs_DIR:PATH=/home/csrobot/catkin_ws/devel/share/tuw_local_controller_msgs/cmake + +//The directory containing a CMake configuration file for tuw_multi_robot_msgs. +tuw_multi_robot_msgs_DIR:PATH=/home/csrobot/catkin_ws/devel/share/tuw_multi_robot_msgs/cmake + +//Value Computed by CMake +uml_hri_nerve_navigation_BINARY_DIR:STATIC=/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build + +//Value Computed by CMake +uml_hri_nerve_navigation_SOURCE_DIR:STATIC=/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation + +//The directory containing a CMake configuration file for xmlrpcpp. +xmlrpcpp_DIR:PATH=/opt/ros/melodic/share/xmlrpcpp/cmake + + +######################## +# INTERNAL cache entries +######################## + +//catkin environment +CATKIN_ENV:INTERNAL=/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/catkin_generated/env_cached.sh +CATKIN_TEST_RESULTS_DIR:INTERNAL=/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/test_results 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defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if defined(_MSC_VER) && !defined(__clang__) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/CMakeFiles/3.10.2/CompilerIdC/a.out b/build/CMakeFiles/3.10.2/CompilerIdC/a.out new file mode 100755 index 0000000..11b7df4 Binary files /dev/null and b/build/CMakeFiles/3.10.2/CompilerIdC/a.out differ diff --git a/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..2d66298 --- /dev/null +++ b/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,576 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC 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defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(_MSC_VER) && defined(_MSVC_LANG) +#define CXX_STD _MSVC_LANG +#else +#define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201402L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif 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+# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... odom_filter_node" + @echo "... list_install_components" + @echo "... ant" + @echo "... robot_checker_node" + @echo "... tuw_node" + @echo "... move_base_mover_node" + @echo "... mbf_mover_node" + @echo "... tuw_mb_mover" + @echo "... ob_mover" + @echo "... pose_publisher" + @echo "... estop" + @echo "... logger" + @echo "... obstacle_bot_node" + @echo "... uml_hri_nerve_navigation_genpy" + @echo "... tester_goal_pub_node" + @echo "... uml_hri_nerve_navigation_generate_messages_py" + @echo "... uml_hri_nerve_navigation_generate_messages_nodejs" + @echo "... uml_hri_nerve_navigation_genlisp" + @echo "... uml_hri_nerve_navigation_generate_messages_lisp" + @echo "... goal_publisher" + @echo "... 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src/obstacle_bot.s" + @echo "... src/pose_publisher.o" + @echo "... src/pose_publisher.i" + @echo "... src/pose_publisher.s" + @echo "... src/robot_checker.o" + @echo "... src/robot_checker.i" + @echo "... src/robot_checker.s" + @echo "... src/rosaria_odom_filter.o" + @echo "... src/rosaria_odom_filter.i" + @echo "... src/rosaria_odom_filter.s" + @echo "... src/test_runner.o" + @echo "... src/test_runner.i" + @echo "... src/test_runner.s" + @echo "... src/tester_checker.o" + @echo "... src/tester_checker.i" + @echo "... src/tester_checker.s" + @echo "... src/tester_goal_publisher.o" + @echo "... src/tester_goal_publisher.i" + @echo "... src/tester_goal_publisher.s" + @echo "... src/tuw_goal_sender.o" + @echo "... src/tuw_goal_sender.i" + @echo "... src/tuw_goal_sender.s" + @echo "... src/tuw_mb_mover.o" + @echo "... src/tuw_mb_mover.i" + @echo "... src/tuw_mb_mover.s" + @echo "... src/tuw_node.o" + @echo "... src/tuw_node.i" + @echo "... src/tuw_node.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/build/Testing/Temporary/LastTest.log b/build/Testing/Temporary/LastTest.log new file mode 100644 index 0000000..4f03449 --- /dev/null +++ b/build/Testing/Temporary/LastTest.log @@ -0,0 +1,3 @@ +Start testing: May 31 13:03 EDT +---------------------------------------------------------- +End testing: May 31 13:03 EDT diff --git a/build/atomic_configure/.rosinstall b/build/atomic_configure/.rosinstall new file mode 100644 index 0000000..22b9a9c --- /dev/null +++ b/build/atomic_configure/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel/setup.sh diff --git a/build/atomic_configure/_setup_util.py b/build/atomic_configure/_setup_util.py new file mode 100755 index 0000000..22a2535 --- /dev/null +++ b/build/atomic_configure/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * 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. +# * Neither the name of Willow Garage, Inc. 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 OWNER 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. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/csrobot/catkin_ws/devel;/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/build/atomic_configure/env.sh b/build/atomic_configure/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/build/atomic_configure/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/build/atomic_configure/local_setup.bash b/build/atomic_configure/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/build/atomic_configure/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/build/atomic_configure/local_setup.sh b/build/atomic_configure/local_setup.sh new file mode 100644 index 0000000..ace6be9 --- /dev/null +++ b/build/atomic_configure/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/build/atomic_configure/local_setup.zsh b/build/atomic_configure/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/build/atomic_configure/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/build/atomic_configure/setup.bash b/build/atomic_configure/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/build/atomic_configure/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/build/atomic_configure/setup.sh b/build/atomic_configure/setup.sh new file mode 100644 index 0000000..1627441 --- /dev/null +++ b/build/atomic_configure/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/build/atomic_configure/setup.zsh b/build/atomic_configure/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/build/atomic_configure/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/build/catkin/catkin_generated/version/package.cmake b/build/catkin/catkin_generated/version/package.cmake new file mode 100644 index 0000000..3e52286 --- /dev/null +++ b/build/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,24 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.7.29") +set(catkin_MAINTAINER "Dirk Thomas ") +set(catkin_PACKAGE_FORMAT "3") +set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") +set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") +set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose") +set(catkin_DOC_DEPENDS ) +set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") +set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") +set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") +set(catkin_DEPRECATED "") \ No newline at end of file diff --git a/build/catkin_generated/env_cached.sh b/build/catkin_generated/env_cached.sh new file mode 100755 index 0000000..d6be91d --- /dev/null +++ b/build/catkin_generated/env_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/build/catkin_generated/generate_cached_setup.py b/build/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000..602dd68 --- /dev/null +++ b/build/catkin_generated/generate_cached_setup.py @@ -0,0 +1,30 @@ +# -*- coding: utf-8 -*- +from __future__ import print_function + +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/melodic/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/melodic/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in '/home/csrobot/catkin_ws/devel;/opt/ros/melodic'.split(';'): + python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel/env.sh') + +output_filename = '/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + # print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/build/catkin_generated/installspace/.rosinstall b/build/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000..6fb13af --- /dev/null +++ b/build/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /usr/local/setup.sh diff --git a/build/catkin_generated/installspace/_setup_util.py b/build/catkin_generated/installspace/_setup_util.py new file mode 100755 index 0000000..22a2535 --- /dev/null +++ b/build/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * 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. +# * Neither the name of Willow Garage, Inc. 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 OWNER 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. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/csrobot/catkin_ws/devel;/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/build/catkin_generated/installspace/env.sh b/build/catkin_generated/installspace/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/build/catkin_generated/installspace/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/build/catkin_generated/installspace/local_setup.bash b/build/catkin_generated/installspace/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/build/catkin_generated/installspace/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/build/catkin_generated/installspace/local_setup.sh b/build/catkin_generated/installspace/local_setup.sh new file mode 100644 index 0000000..f021098 --- /dev/null +++ b/build/catkin_generated/installspace/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/usr/local} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/build/catkin_generated/installspace/local_setup.zsh b/build/catkin_generated/installspace/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/build/catkin_generated/installspace/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/build/catkin_generated/installspace/setup.bash b/build/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/build/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/build/catkin_generated/installspace/setup.sh b/build/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000..b5a330e --- /dev/null +++ b/build/catkin_generated/installspace/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/usr/local} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/build/catkin_generated/installspace/setup.zsh b/build/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/build/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/build/catkin_generated/installspace/uml_hri_nerve_navigation-msg-extras.cmake b/build/catkin_generated/installspace/uml_hri_nerve_navigation-msg-extras.cmake new file mode 100644 index 0000000..81579b5 --- /dev/null +++ b/build/catkin_generated/installspace/uml_hri_nerve_navigation-msg-extras.cmake @@ -0,0 +1,2 @@ +set(uml_hri_nerve_navigation_MESSAGE_FILES "msg/SimLog.msg;msg/Goal.msg") +set(uml_hri_nerve_navigation_SERVICE_FILES "") diff --git a/build/catkin_generated/installspace/uml_hri_nerve_navigation-msg-paths.cmake b/build/catkin_generated/installspace/uml_hri_nerve_navigation-msg-paths.cmake new file mode 100644 index 0000000..e235cb8 --- /dev/null +++ b/build/catkin_generated/installspace/uml_hri_nerve_navigation-msg-paths.cmake @@ -0,0 +1,4 @@ +# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in + +_prepend_path("${uml_hri_nerve_navigation_DIR}/.." "msg" uml_hri_nerve_navigation_MSG_INCLUDE_DIRS UNIQUE) +set(uml_hri_nerve_navigation_MSG_DEPENDENCIES std_msgs;geometry_msgs) diff --git a/build/catkin_generated/installspace/uml_hri_nerve_navigation.pc b/build/catkin_generated/installspace/uml_hri_nerve_navigation.pc new file mode 100644 index 0000000..b279680 --- /dev/null +++ b/build/catkin_generated/installspace/uml_hri_nerve_navigation.pc @@ -0,0 +1,8 @@ +prefix=/usr/local + +Name: uml_hri_nerve_navigation +Description: Description of uml_hri_nerve_navigation +Version: 0.0.0 +Cflags: -I${prefix}/include +Libs: -L${prefix}/lib +Requires: roscpp std_msgs std_srvs tf2 tf2_ros geometry_msgs message_runtime move_base_msgs actionlib gazebo_msgs tuw_local_controller_msgs tuw_multi_robot_msgs diff --git a/build/catkin_generated/installspace/uml_hri_nerve_navigationConfig-version.cmake b/build/catkin_generated/installspace/uml_hri_nerve_navigationConfig-version.cmake new file mode 100644 index 0000000..7fd9f99 --- /dev/null +++ b/build/catkin_generated/installspace/uml_hri_nerve_navigationConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/build/catkin_generated/installspace/uml_hri_nerve_navigationConfig.cmake b/build/catkin_generated/installspace/uml_hri_nerve_navigationConfig.cmake new file mode 100644 index 0000000..cb9c964 --- /dev/null +++ b/build/catkin_generated/installspace/uml_hri_nerve_navigationConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(uml_hri_nerve_navigation_CONFIG_INCLUDED) + return() +endif() +set(uml_hri_nerve_navigation_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(uml_hri_nerve_navigation_SOURCE_PREFIX /home/csrobot/catkin_ws/src/uml_hri_nerve_navigation) + set(uml_hri_nerve_navigation_DEVEL_PREFIX /home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel) + set(uml_hri_nerve_navigation_INSTALL_PREFIX "") + set(uml_hri_nerve_navigation_PREFIX ${uml_hri_nerve_navigation_DEVEL_PREFIX}) +else() + set(uml_hri_nerve_navigation_SOURCE_PREFIX "") + set(uml_hri_nerve_navigation_DEVEL_PREFIX "") + set(uml_hri_nerve_navigation_INSTALL_PREFIX /usr/local) + set(uml_hri_nerve_navigation_PREFIX ${uml_hri_nerve_navigation_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'uml_hri_nerve_navigation' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(uml_hri_nerve_navigation_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "include " STREQUAL " ") + set(uml_hri_nerve_navigation_INCLUDE_DIRS "") + set(_include_dirs "include") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'charlie ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${uml_hri_nerve_navigation_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'uml_hri_nerve_navigation' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'uml_hri_nerve_navigation' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(uml_hri_nerve_navigation_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND uml_hri_nerve_navigation_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND uml_hri_nerve_navigation_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT uml_hri_nerve_navigation_NUM_DUMMY_TARGETS) + set(uml_hri_nerve_navigation_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::uml_hri_nerve_navigation::wrapped-linker-option${uml_hri_nerve_navigation_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR uml_hri_nerve_navigation_NUM_DUMMY_TARGETS "${uml_hri_nerve_navigation_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::uml_hri_nerve_navigation::wrapped-linker-option${uml_hri_nerve_navigation_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND uml_hri_nerve_navigation_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND uml_hri_nerve_navigation_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND uml_hri_nerve_navigation_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /usr/local/lib;/home/csrobot/catkin_ws/devel/lib;/opt/ros/melodic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(uml_hri_nerve_navigation_LIBRARY_DIRS ${lib_path}) + list(APPEND uml_hri_nerve_navigation_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'uml_hri_nerve_navigation'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND uml_hri_nerve_navigation_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(uml_hri_nerve_navigation_EXPORTED_TARGETS "uml_hri_nerve_navigation_generate_messages_cpp;uml_hri_nerve_navigation_generate_messages_eus;uml_hri_nerve_navigation_generate_messages_lisp;uml_hri_nerve_navigation_generate_messages_nodejs;uml_hri_nerve_navigation_generate_messages_py") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${uml_hri_nerve_navigation_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "roscpp;std_msgs;std_srvs;tf2;tf2_ros;geometry_msgs;message_runtime;move_base_msgs;actionlib;gazebo_msgs;tuw_local_controller_msgs;tuw_multi_robot_msgs") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 uml_hri_nerve_navigation_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${uml_hri_nerve_navigation_dep}_FOUND) + find_package(${uml_hri_nerve_navigation_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${uml_hri_nerve_navigation_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(uml_hri_nerve_navigation_INCLUDE_DIRS ${${uml_hri_nerve_navigation_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(uml_hri_nerve_navigation_LIBRARIES ${uml_hri_nerve_navigation_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${uml_hri_nerve_navigation_dep}_LIBRARIES}) + _list_append_deduplicate(uml_hri_nerve_navigation_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(uml_hri_nerve_navigation_LIBRARIES ${uml_hri_nerve_navigation_LIBRARIES}) + + _list_append_unique(uml_hri_nerve_navigation_LIBRARY_DIRS ${${uml_hri_nerve_navigation_dep}_LIBRARY_DIRS}) + list(APPEND uml_hri_nerve_navigation_EXPORTED_TARGETS ${${uml_hri_nerve_navigation_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "uml_hri_nerve_navigation-msg-extras.cmake") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${uml_hri_nerve_navigation_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/build/catkin_generated/ordered_paths.cmake b/build/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..88ba1d8 --- /dev/null +++ b/build/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/melodic/lib") \ No newline at end of file diff --git a/build/catkin_generated/package.cmake b/build/catkin_generated/package.cmake new file mode 100644 index 0000000..c5bae65 --- /dev/null +++ b/build/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "uml_hri_nerve_navigation") +set(uml_hri_nerve_navigation_VERSION "0.0.0") +set(uml_hri_nerve_navigation_MAINTAINER "charlie ") +set(uml_hri_nerve_navigation_PACKAGE_FORMAT "2") +set(uml_hri_nerve_navigation_BUILD_DEPENDS "laser_filters" "roscpp" "std_msgs" "std_srvs" "message_generation" "move_base_msgs" "actionlib" "gazebo_msgs" "geometry_msgs" "navigation" "fetch_ros" "fetch_gazebo" "mir_robot" "gmapping" "hector_geotiff" "hector_trajectory_server" "octomap" "octomap_msgs" "octomap_ros" "octomap_rviz_plugins" "octomap_server" "pcl_ros" "pointcloud_to_laserscan" "spatio_temporal_voxel_layer" "teleop_twist_keyboard" "tf2" "tf2_ros" "tuw_local_controller_msgs" "tuw_multi_robot_msgs") +set(uml_hri_nerve_navigation_BUILD_EXPORT_DEPENDS "laser_filters" "roscpp" "std_msgs" "std_srvs" "move_base_msgs" "actionlib" "gazebo_msgs" "geometry_msgs" "navigation" "fetch_ros" "fetch_gazebo" "mir_robot" "gmapping" "hector_geotiff" "hector_trajectory_server" "octomap" "octomap_msgs" "octomap_ros" "octomap_rviz_plugins" "octomap_server" "pcl_ros" "pointcloud_to_laserscan" "spatio_temporal_voxel_layer" "teleop_twist_keyboard" "tf2" "tf2_ros" "tuw_local_controller_msgs" "tuw_multi_robot_msgs") +set(uml_hri_nerve_navigation_BUILDTOOL_DEPENDS "catkin") +set(uml_hri_nerve_navigation_BUILDTOOL_EXPORT_DEPENDS ) +set(uml_hri_nerve_navigation_EXEC_DEPENDS "tuw_local_controller_msgs" "tuw_multi_robot_msgs" "laser_filters" "roscpp" "std_msgs" "std_srvs" "message_runtime" "move_base_msgs" "actionlib" "gazebo_msgs" "geometry_msgs" "navigation" "fetch_ros" "fetch_gazebo" "mir_robot" "gmapping" "hector_geotiff" "hector_trajectory_server" "octomap" "octomap_msgs" "octomap_ros" "octomap_rviz_plugins" "octomap_server" "pcl_ros" "pointcloud_to_laserscan" "spatio_temporal_voxel_layer" "teleop_twist_keyboard" "tf2" "tf2_ros") +set(uml_hri_nerve_navigation_RUN_DEPENDS "tuw_local_controller_msgs" "tuw_multi_robot_msgs" "laser_filters" "roscpp" "std_msgs" "std_srvs" "message_runtime" "move_base_msgs" "actionlib" "gazebo_msgs" "geometry_msgs" "navigation" "fetch_ros" "fetch_gazebo" "mir_robot" "gmapping" "hector_geotiff" "hector_trajectory_server" "octomap" "octomap_msgs" "octomap_ros" "octomap_rviz_plugins" "octomap_server" "pcl_ros" "pointcloud_to_laserscan" "spatio_temporal_voxel_layer" "teleop_twist_keyboard" "tf2" "tf2_ros") +set(uml_hri_nerve_navigation_TEST_DEPENDS ) +set(uml_hri_nerve_navigation_DOC_DEPENDS ) +set(uml_hri_nerve_navigation_URL_WEBSITE "") +set(uml_hri_nerve_navigation_URL_BUGTRACKER "") +set(uml_hri_nerve_navigation_URL_REPOSITORY "") +set(uml_hri_nerve_navigation_DEPRECATED "") \ No newline at end of file diff --git a/build/catkin_generated/pkg.develspace.context.pc.py b/build/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..f4b8c99 --- /dev/null +++ b/build/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel/include".split(';') if "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "roscpp;std_msgs;std_srvs;tf2;tf2_ros;geometry_msgs;message_runtime;move_base_msgs;actionlib;gazebo_msgs;tuw_local_controller_msgs;tuw_multi_robot_msgs".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "uml_hri_nerve_navigation" +PROJECT_SPACE_DIR = "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel" +PROJECT_VERSION = "0.0.0" diff --git a/build/catkin_generated/pkg.installspace.context.pc.py b/build/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..709ce83 --- /dev/null +++ b/build/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "roscpp;std_msgs;std_srvs;tf2;tf2_ros;geometry_msgs;message_runtime;move_base_msgs;actionlib;gazebo_msgs;tuw_local_controller_msgs;tuw_multi_robot_msgs".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "uml_hri_nerve_navigation" +PROJECT_SPACE_DIR = "/usr/local" +PROJECT_VERSION = "0.0.0" diff --git a/build/catkin_generated/setup_cached.sh b/build/catkin_generated/setup_cached.sh new file mode 100755 index 0000000..de38e7a --- /dev/null +++ b/build/catkin_generated/setup_cached.sh @@ -0,0 +1,17 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables + +# modified environment variables +export CMAKE_PREFIX_PATH="/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel:$CMAKE_PREFIX_PATH" +export LD_LIBRARY_PATH="/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel/lib:$LD_LIBRARY_PATH" +export PATH='/opt/ros/melodic/bin:/home/csrobot/.local/bin:/home/csrobot/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin' +export PKG_CONFIG_PATH="/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel/lib/pkgconfig:$PKG_CONFIG_PATH" +export PWD='/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build' +export PYTHONPATH="/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel/lib/python2.7/dist-packages:$PYTHONPATH" +export ROSLISP_PACKAGE_DIRECTORIES="/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES" +export ROS_PACKAGE_PATH="/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation:$ROS_PACKAGE_PATH" \ No newline at end of file diff --git a/build/catkin_generated/stamps/uml_hri_nerve_navigation/_setup_util.py.stamp b/build/catkin_generated/stamps/uml_hri_nerve_navigation/_setup_util.py.stamp new file mode 100755 index 0000000..22a2535 --- /dev/null +++ b/build/catkin_generated/stamps/uml_hri_nerve_navigation/_setup_util.py.stamp @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * 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. +# * Neither the name of Willow Garage, Inc. 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 OWNER 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. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/csrobot/catkin_ws/devel;/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/build/catkin_generated/stamps/uml_hri_nerve_navigation/interrogate_setup_dot_py.py.stamp b/build/catkin_generated/stamps/uml_hri_nerve_navigation/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000..5e25fbf --- /dev/null +++ b/build/catkin_generated/stamps/uml_hri_nerve_navigation/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,255 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * 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. +# * Neither the name of Willow Garage, Inc. 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 OWNER 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. + +from __future__ import print_function + +import os +import runpy +import sys +from argparse import ArgumentParser + +setup_modules = [] + +try: + import distutils.core + setup_modules.append(distutils.core) +except ImportError: + pass + +try: + import setuptools + setup_modules.append(setuptools) +except ImportError: + pass + +assert setup_modules, 'Must have distutils or setuptools installed' + + +def _get_locations(pkgs, package_dir): + """ + Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs. + + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = os.path.join(parent_location, splits[key_len]) + else: + locations[key] = os.path.join(allprefix, key) + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None): + """ + Generate lines to add to a cmake file which will set variables. + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :param pkgs: [list of str] python_packages declared in catkin package + :param modules: [list of str] python modules + :param setup_module: str, setuptools or distutils + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + if setup_module: + result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module)) + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if '.' not in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + root_name = splits[0] + root_location = location + for _ in range(len(splits) - 1): + root_location = os.path.dirname(root_location) + if root_location != locations[root_name]: + raise RuntimeError( + 'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [locations[pkg]] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/'))) + + # skip modules which collide with package names + filtered_modules = [] + for modname in modules: + splits = modname.split('.') + # check all parents too + equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] + if any(equals_package): + continue + filtered_modules.append(modname) + module_locations = _get_locations(filtered_modules, package_dir) + + result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) + result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/'))) + + return result + + +def _create_mock_setup_function(setup_module, package_name, outfile): + """ + Create a function to call instead of distutils.core.setup or setuptools.setup. + + It just captures some args and writes them into a file that can be used from cmake. + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + """Check kwargs and write a scriptfile.""" + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError('version not found in setup.py') + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + modules = kwargs.get('py_modules', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs, + modules=modules, + setup_module=setup_module) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """Script main, parses arguments and invokes Dummy.setup indirectly.""" + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + backup_modules = {} + try: + + for module in setup_modules: + backup_modules[id(module)] = module.setup + module.setup = _create_mock_setup_function( + setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile) + + runpy.run_path(args.setupfile_path) + finally: + for module in setup_modules: + module.setup = backup_modules[id(module)] + + +if __name__ == '__main__': + main() diff --git a/build/catkin_generated/stamps/uml_hri_nerve_navigation/package.xml.stamp b/build/catkin_generated/stamps/uml_hri_nerve_navigation/package.xml.stamp new file mode 100644 index 0000000..9af5407 --- /dev/null +++ b/build/catkin_generated/stamps/uml_hri_nerve_navigation/package.xml.stamp @@ -0,0 +1,149 @@ + + + uml_hri_nerve_navigation + 0.0.0 + The uml_hri_nerve_navigation package + + + + + charlie + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + laser_filters + roscpp + std_msgs + std_srvs + message_generation + move_base_msgs + actionlib + gazebo_msgs + geometry_msgs + navigation + fetch_ros + fetch_gazebo + mir_robot + gmapping + hector_geotiff + hector_trajectory_server + octomap + octomap_msgs + octomap_ros + octomap_rviz_plugins + octomap_server + pcl_ros + pointcloud_to_laserscan + spatio_temporal_voxel_layer + teleop_twist_keyboard + tf2 + tf2_ros + + tuw_local_controller_msgs + tuw_multi_robot_msgs + + laser_filters + roscpp + std_msgs + std_srvs + move_base_msgs + actionlib + gazebo_msgs + geometry_msgs + navigation + fetch_ros + fetch_gazebo + mir_robot + gmapping + hector_geotiff + hector_trajectory_server + octomap + octomap_msgs + octomap_ros + octomap_rviz_plugins + octomap_server + pcl_ros + pointcloud_to_laserscan + spatio_temporal_voxel_layer + teleop_twist_keyboard + tf2 + tf2_ros + + tuw_local_controller_msgs + tuw_multi_robot_msgs + tuw_local_controller_msgs + tuw_multi_robot_msgs + + laser_filters + roscpp + std_msgs + std_srvs + message_runtime + move_base_msgs + actionlib + gazebo_msgs + geometry_msgs + navigation + fetch_ros + fetch_gazebo + mir_robot + gmapping + hector_geotiff + hector_trajectory_server + octomap + octomap_msgs + octomap_ros + octomap_rviz_plugins + octomap_server + pcl_ros + pointcloud_to_laserscan + spatio_temporal_voxel_layer + teleop_twist_keyboard + tf2 + tf2_ros + + + + + + + + diff --git a/build/catkin_generated/stamps/uml_hri_nerve_navigation/pkg-genmsg.cmake.em.stamp b/build/catkin_generated/stamps/uml_hri_nerve_navigation/pkg-genmsg.cmake.em.stamp new file mode 100644 index 0000000..f02628f --- /dev/null +++ b/build/catkin_generated/stamps/uml_hri_nerve_navigation/pkg-genmsg.cmake.em.stamp @@ -0,0 +1,166 @@ +# generated from genmsg/cmake/pkg-genmsg.cmake.em + +@{ +import os +import sys + +import genmsg +import genmsg.base +genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ) +import genmsg.deps +import genmsg.gentools + +# split incoming variables +messages = messages_str.split(';') if messages_str != '' else [] +services = services_str.split(';') if services_str != '' else [] +dependencies = dependencies_str.split(';') if dependencies_str != '' else [] +dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else [] + +dep_search_paths_dict = {} +dep_search_paths_tuple_list = [] +is_even = True +for val in dep_search_paths: + if is_even: + dep_search_paths_dict.setdefault(val, []) + val_prev = val + is_even = False + else: + dep_search_paths_dict[val_prev].append(val) + dep_search_paths_tuple_list.append((val_prev, val)) + is_even = True +dep_search_paths = dep_search_paths_dict + +if not messages and not services: + print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")') + +msg_deps = {} +msg_dep_types = {} +for m in messages: + try: + _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths) + msg_deps[m] = [d[1] for d in _deps] + msg_dep_types[m] = [d[0] for d in _deps] + except genmsg.MsgNotFound as e: + print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"'))) + +srv_deps = {} +srv_dep_types = {} +for s in services: + try: + _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths) + srv_deps[s] = [d[1] for d in _deps] + srv_dep_types[s] = [d[0] for d in _deps] + except genmsg.MsgNotFound as e: + print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"'))) + +}@ +message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services") + +set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))") + +# Find all generators +@[if langs]@ +@[for l in langs.split(';')]@ +find_package(@l REQUIRED) +@[end for]@ +@[end if]@ + +add_custom_target(@(pkg_name)_generate_messages ALL) + +# verify that message/service dependencies have not changed since configure +@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))} +@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))} +@[for f in all_deps.keys()]@ +@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')} +get_filename_component(_filename "@(f)" NAME_WE) +add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)" +) +@[end for]@# messages and services + +# +# langs = @langs +# + +@[if langs]@ +@[for l in langs.split(';')]@ +### Section generating for lang: @l +### Generating Messages +@[for m in msg_deps.keys()]@ +_generate_msg_@(l[3:])(@pkg_name + "@m" + "${MSG_I_FLAGS}" + "@(';'.join(msg_deps[m]).replace("\\","/"))" + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name +) +@[end for]@# messages + +### Generating Services +@[for s in srv_deps.keys()]@ +_generate_srv_@(l[3:])(@pkg_name + "@s" + "${MSG_I_FLAGS}" + "@(';'.join(srv_deps[s]).replace("\\","/"))" + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name +) +@[end for]@# services + +### Generating Module File +_generate_module_@(l[3:])(@pkg_name + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + "${ALL_GEN_OUTPUT_FILES_@(l[3:])}" +) + +add_custom_target(@(pkg_name)_generate_messages_@(l[3:]) + DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])} +) +add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:])) + +# add dependencies to all check dependencies targets +@[for f in all_deps.keys()]@ +get_filename_component(_filename "@(f)" NAME_WE) +add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename}) +@[end for]@# messages and services + +# target for backward compatibility +add_custom_target(@(pkg_name)_@(l)) +add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:])) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:])) + +@[end for]@# langs +@[end if]@ + +@[if langs]@ +@[for l in langs.split(';')]@ + +if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name) +@[if l == 'genpy']@ + install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")") +@[end if]@ + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + DESTINATION ${@(l)_INSTALL_DIR} +@[if l == 'genpy' and package_has_static_sources]@ + # skip all init files + PATTERN "__init__.py" EXCLUDE + PATTERN "__init__.pyc" EXCLUDE + ) + # install init files which are not in the root folder of the generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + DESTINATION ${@(l)_INSTALL_DIR} + FILES_MATCHING + REGEX "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)/.+/__init__.pyc?$" +@[end if]@ + ) +endif() +@[for d in dependencies]@ +if(TARGET @(d)_generate_messages_@(l[3:])) + add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:])) +endif() +@[end for]@# dependencies +@[end for]@# langs +@[end if]@ diff --git a/build/catkin_generated/stamps/uml_hri_nerve_navigation/pkg.pc.em.stamp b/build/catkin_generated/stamps/uml_hri_nerve_navigation/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/build/catkin_generated/stamps/uml_hri_nerve_navigation/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/build/catkin_generated/uml_hri_nerve_navigation-msg-extras.cmake.develspace.in b/build/catkin_generated/uml_hri_nerve_navigation-msg-extras.cmake.develspace.in new file mode 100644 index 0000000..0d216c3 --- /dev/null +++ b/build/catkin_generated/uml_hri_nerve_navigation-msg-extras.cmake.develspace.in @@ -0,0 +1,2 @@ +set(uml_hri_nerve_navigation_MESSAGE_FILES "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg;/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg") +set(uml_hri_nerve_navigation_SERVICE_FILES "") diff --git a/build/catkin_generated/uml_hri_nerve_navigation-msg-extras.cmake.installspace.in b/build/catkin_generated/uml_hri_nerve_navigation-msg-extras.cmake.installspace.in new file mode 100644 index 0000000..81579b5 --- /dev/null +++ b/build/catkin_generated/uml_hri_nerve_navigation-msg-extras.cmake.installspace.in @@ -0,0 +1,2 @@ +set(uml_hri_nerve_navigation_MESSAGE_FILES "msg/SimLog.msg;msg/Goal.msg") +set(uml_hri_nerve_navigation_SERVICE_FILES "") diff --git a/build/cmake/uml_hri_nerve_navigation-genmsg-context.py b/build/cmake/uml_hri_nerve_navigation-genmsg-context.py new file mode 100644 index 0000000..212d38d --- /dev/null +++ b/build/cmake/uml_hri_nerve_navigation-genmsg-context.py @@ -0,0 +1,11 @@ +# generated from genmsg/cmake/pkg-genmsg.context.in + +messages_str = "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg;/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg" +services_str = "" +pkg_name = "uml_hri_nerve_navigation" +dependencies_str = "std_msgs;geometry_msgs" +langs = "gencpp;geneus;genlisp;gennodejs;genpy" +dep_include_paths_str = "uml_hri_nerve_navigation;/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg;std_msgs;/opt/ros/melodic/share/std_msgs/cmake/../msg;geometry_msgs;/opt/ros/melodic/share/geometry_msgs/cmake/../msg" +PYTHON_EXECUTABLE = "/usr/bin/python2" +package_has_static_sources = '' == 'TRUE' +genmsg_check_deps_script = "/opt/ros/melodic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py" diff --git a/build/cmake/uml_hri_nerve_navigation-genmsg.cmake b/build/cmake/uml_hri_nerve_navigation-genmsg.cmake new file mode 100644 index 0000000..b788459 --- /dev/null +++ b/build/cmake/uml_hri_nerve_navigation-genmsg.cmake @@ -0,0 +1,310 @@ +# generated from genmsg/cmake/pkg-genmsg.cmake.em + +message(STATUS "uml_hri_nerve_navigation: 2 messages, 0 services") + +set(MSG_I_FLAGS "-Iuml_hri_nerve_navigation:/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg;-Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg;-Igeometry_msgs:/opt/ros/melodic/share/geometry_msgs/cmake/../msg") + +# Find all generators +find_package(gencpp REQUIRED) +find_package(geneus REQUIRED) +find_package(genlisp REQUIRED) +find_package(gennodejs REQUIRED) +find_package(genpy REQUIRED) + +add_custom_target(uml_hri_nerve_navigation_generate_messages ALL) + +# verify that message/service dependencies have not changed since configure + + + +get_filename_component(_filename "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg" NAME_WE) +add_custom_target(_uml_hri_nerve_navigation_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "uml_hri_nerve_navigation" "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg" "geometry_msgs/Pose2D:geometry_msgs/Point:std_msgs/Header" +) + +get_filename_component(_filename "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg" NAME_WE) +add_custom_target(_uml_hri_nerve_navigation_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "uml_hri_nerve_navigation" "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg" "geometry_msgs/Pose2D" +) + +# +# langs = gencpp;geneus;genlisp;gennodejs;genpy +# + +### Section generating for lang: gencpp +### Generating Messages +_generate_msg_cpp(uml_hri_nerve_navigation + "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Pose2D.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg;/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/uml_hri_nerve_navigation +) +_generate_msg_cpp(uml_hri_nerve_navigation + "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Pose2D.msg" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/uml_hri_nerve_navigation +) + +### Generating Services + +### Generating Module File +_generate_module_cpp(uml_hri_nerve_navigation + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/uml_hri_nerve_navigation + "${ALL_GEN_OUTPUT_FILES_cpp}" +) + +add_custom_target(uml_hri_nerve_navigation_generate_messages_cpp + DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp} +) +add_dependencies(uml_hri_nerve_navigation_generate_messages uml_hri_nerve_navigation_generate_messages_cpp) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg" NAME_WE) +add_dependencies(uml_hri_nerve_navigation_generate_messages_cpp _uml_hri_nerve_navigation_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg" NAME_WE) +add_dependencies(uml_hri_nerve_navigation_generate_messages_cpp _uml_hri_nerve_navigation_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(uml_hri_nerve_navigation_gencpp) +add_dependencies(uml_hri_nerve_navigation_gencpp uml_hri_nerve_navigation_generate_messages_cpp) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS uml_hri_nerve_navigation_generate_messages_cpp) + +### Section generating for lang: geneus +### Generating Messages +_generate_msg_eus(uml_hri_nerve_navigation + "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Pose2D.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg;/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/uml_hri_nerve_navigation +) +_generate_msg_eus(uml_hri_nerve_navigation + "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Pose2D.msg" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/uml_hri_nerve_navigation +) + +### Generating Services + +### Generating Module File +_generate_module_eus(uml_hri_nerve_navigation + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/uml_hri_nerve_navigation + "${ALL_GEN_OUTPUT_FILES_eus}" +) + +add_custom_target(uml_hri_nerve_navigation_generate_messages_eus + DEPENDS ${ALL_GEN_OUTPUT_FILES_eus} +) +add_dependencies(uml_hri_nerve_navigation_generate_messages uml_hri_nerve_navigation_generate_messages_eus) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg" NAME_WE) +add_dependencies(uml_hri_nerve_navigation_generate_messages_eus _uml_hri_nerve_navigation_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg" NAME_WE) +add_dependencies(uml_hri_nerve_navigation_generate_messages_eus _uml_hri_nerve_navigation_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(uml_hri_nerve_navigation_geneus) +add_dependencies(uml_hri_nerve_navigation_geneus uml_hri_nerve_navigation_generate_messages_eus) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS uml_hri_nerve_navigation_generate_messages_eus) + +### Section generating for lang: genlisp +### Generating Messages +_generate_msg_lisp(uml_hri_nerve_navigation + "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Pose2D.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg;/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/uml_hri_nerve_navigation +) +_generate_msg_lisp(uml_hri_nerve_navigation + "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Pose2D.msg" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/uml_hri_nerve_navigation +) + +### Generating Services + +### Generating Module File +_generate_module_lisp(uml_hri_nerve_navigation + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/uml_hri_nerve_navigation + "${ALL_GEN_OUTPUT_FILES_lisp}" +) + +add_custom_target(uml_hri_nerve_navigation_generate_messages_lisp + DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp} +) +add_dependencies(uml_hri_nerve_navigation_generate_messages uml_hri_nerve_navigation_generate_messages_lisp) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg" NAME_WE) +add_dependencies(uml_hri_nerve_navigation_generate_messages_lisp _uml_hri_nerve_navigation_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg" NAME_WE) +add_dependencies(uml_hri_nerve_navigation_generate_messages_lisp _uml_hri_nerve_navigation_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(uml_hri_nerve_navigation_genlisp) +add_dependencies(uml_hri_nerve_navigation_genlisp uml_hri_nerve_navigation_generate_messages_lisp) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS uml_hri_nerve_navigation_generate_messages_lisp) + +### Section generating for lang: gennodejs +### Generating Messages +_generate_msg_nodejs(uml_hri_nerve_navigation + "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Pose2D.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg;/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/uml_hri_nerve_navigation +) +_generate_msg_nodejs(uml_hri_nerve_navigation + "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Pose2D.msg" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/uml_hri_nerve_navigation +) + +### Generating Services + +### Generating Module File +_generate_module_nodejs(uml_hri_nerve_navigation + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/uml_hri_nerve_navigation + "${ALL_GEN_OUTPUT_FILES_nodejs}" +) + +add_custom_target(uml_hri_nerve_navigation_generate_messages_nodejs + DEPENDS ${ALL_GEN_OUTPUT_FILES_nodejs} +) +add_dependencies(uml_hri_nerve_navigation_generate_messages uml_hri_nerve_navigation_generate_messages_nodejs) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg" NAME_WE) +add_dependencies(uml_hri_nerve_navigation_generate_messages_nodejs _uml_hri_nerve_navigation_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg" NAME_WE) +add_dependencies(uml_hri_nerve_navigation_generate_messages_nodejs _uml_hri_nerve_navigation_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(uml_hri_nerve_navigation_gennodejs) +add_dependencies(uml_hri_nerve_navigation_gennodejs uml_hri_nerve_navigation_generate_messages_nodejs) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS uml_hri_nerve_navigation_generate_messages_nodejs) + +### Section generating for lang: genpy +### Generating Messages +_generate_msg_py(uml_hri_nerve_navigation + "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Pose2D.msg;/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Point.msg;/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/uml_hri_nerve_navigation +) +_generate_msg_py(uml_hri_nerve_navigation + "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/geometry_msgs/cmake/../msg/Pose2D.msg" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/uml_hri_nerve_navigation +) + +### Generating Services + +### Generating Module File +_generate_module_py(uml_hri_nerve_navigation + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/uml_hri_nerve_navigation + "${ALL_GEN_OUTPUT_FILES_py}" +) + +add_custom_target(uml_hri_nerve_navigation_generate_messages_py + DEPENDS ${ALL_GEN_OUTPUT_FILES_py} +) +add_dependencies(uml_hri_nerve_navigation_generate_messages uml_hri_nerve_navigation_generate_messages_py) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg" NAME_WE) +add_dependencies(uml_hri_nerve_navigation_generate_messages_py _uml_hri_nerve_navigation_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg" NAME_WE) +add_dependencies(uml_hri_nerve_navigation_generate_messages_py _uml_hri_nerve_navigation_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(uml_hri_nerve_navigation_genpy) +add_dependencies(uml_hri_nerve_navigation_genpy uml_hri_nerve_navigation_generate_messages_py) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS uml_hri_nerve_navigation_generate_messages_py) + + + +if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/uml_hri_nerve_navigation) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/uml_hri_nerve_navigation + DESTINATION ${gencpp_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_cpp) + add_dependencies(uml_hri_nerve_navigation_generate_messages_cpp std_msgs_generate_messages_cpp) +endif() +if(TARGET geometry_msgs_generate_messages_cpp) + add_dependencies(uml_hri_nerve_navigation_generate_messages_cpp geometry_msgs_generate_messages_cpp) +endif() + +if(geneus_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/uml_hri_nerve_navigation) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/uml_hri_nerve_navigation + DESTINATION ${geneus_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_eus) + add_dependencies(uml_hri_nerve_navigation_generate_messages_eus std_msgs_generate_messages_eus) +endif() +if(TARGET geometry_msgs_generate_messages_eus) + add_dependencies(uml_hri_nerve_navigation_generate_messages_eus geometry_msgs_generate_messages_eus) +endif() + +if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/uml_hri_nerve_navigation) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/uml_hri_nerve_navigation + DESTINATION ${genlisp_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_lisp) + add_dependencies(uml_hri_nerve_navigation_generate_messages_lisp std_msgs_generate_messages_lisp) +endif() +if(TARGET geometry_msgs_generate_messages_lisp) + add_dependencies(uml_hri_nerve_navigation_generate_messages_lisp geometry_msgs_generate_messages_lisp) +endif() + +if(gennodejs_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/uml_hri_nerve_navigation) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/uml_hri_nerve_navigation + DESTINATION ${gennodejs_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_nodejs) + add_dependencies(uml_hri_nerve_navigation_generate_messages_nodejs std_msgs_generate_messages_nodejs) +endif() +if(TARGET geometry_msgs_generate_messages_nodejs) + add_dependencies(uml_hri_nerve_navigation_generate_messages_nodejs geometry_msgs_generate_messages_nodejs) +endif() + +if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/uml_hri_nerve_navigation) + install(CODE "execute_process(COMMAND \"/usr/bin/python2\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/uml_hri_nerve_navigation\")") + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/uml_hri_nerve_navigation + DESTINATION ${genpy_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_py) + add_dependencies(uml_hri_nerve_navigation_generate_messages_py std_msgs_generate_messages_py) +endif() +if(TARGET geometry_msgs_generate_messages_py) + add_dependencies(uml_hri_nerve_navigation_generate_messages_py geometry_msgs_generate_messages_py) +endif() diff --git a/build/cmake_install.cmake b/build/cmake_install.cmake new file mode 100644 index 0000000..3bd15e1 --- /dev/null +++ b/build/cmake_install.cmake @@ -0,0 +1,200 @@ +# Install script for directory: /home/csrobot/catkin_ws/src/uml_hri_nerve_navigation + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "Debug") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + endif() + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin") + file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "") + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/usr/local/_setup_util.py") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/catkin_generated/installspace/_setup_util.py") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/usr/local/env.sh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/catkin_generated/installspace/env.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.bash;/usr/local/local_setup.bash") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/usr/local" TYPE FILE FILES + "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/catkin_generated/installspace/setup.bash" + "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/catkin_generated/installspace/local_setup.bash" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.sh;/usr/local/local_setup.sh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/usr/local" TYPE FILE FILES + "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/catkin_generated/installspace/setup.sh" + 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local-name: /home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel/setup.sh diff --git a/build/devel/_setup_util.py b/build/devel/_setup_util.py new file mode 100755 index 0000000..22a2535 --- /dev/null +++ b/build/devel/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * 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. +# * Neither the name of Willow Garage, Inc. 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 OWNER 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. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/csrobot/catkin_ws/devel;/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/build/devel/cmake.lock b/build/devel/cmake.lock new file mode 100644 index 0000000..e69de29 diff --git a/build/devel/env.sh b/build/devel/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/build/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/build/devel/lib/pkgconfig/uml_hri_nerve_navigation.pc b/build/devel/lib/pkgconfig/uml_hri_nerve_navigation.pc new file mode 100644 index 0000000..409e9c0 --- /dev/null +++ b/build/devel/lib/pkgconfig/uml_hri_nerve_navigation.pc @@ -0,0 +1,8 @@ +prefix=/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel + +Name: uml_hri_nerve_navigation +Description: Description of uml_hri_nerve_navigation +Version: 0.0.0 +Cflags: -I/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel/include +Libs: -L${prefix}/lib +Requires: roscpp std_msgs std_srvs tf2 tf2_ros geometry_msgs message_runtime move_base_msgs actionlib gazebo_msgs tuw_local_controller_msgs tuw_multi_robot_msgs diff --git a/build/devel/lib/python2.7/dist-packages/uml_hri_nerve_navigation/__init__.py b/build/devel/lib/python2.7/dist-packages/uml_hri_nerve_navigation/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/build/devel/local_setup.bash b/build/devel/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/build/devel/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/build/devel/local_setup.sh b/build/devel/local_setup.sh new file mode 100644 index 0000000..ace6be9 --- /dev/null +++ b/build/devel/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/build/devel/local_setup.zsh b/build/devel/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/build/devel/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/build/devel/setup.bash b/build/devel/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/build/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/build/devel/setup.sh b/build/devel/setup.sh new file mode 100644 index 0000000..1627441 --- /dev/null +++ b/build/devel/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/build/devel/setup.zsh b/build/devel/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/build/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/build/devel/share/uml_hri_nerve_navigation/cmake/uml_hri_nerve_navigation-msg-extras.cmake b/build/devel/share/uml_hri_nerve_navigation/cmake/uml_hri_nerve_navigation-msg-extras.cmake new file mode 100644 index 0000000..0d216c3 --- /dev/null +++ b/build/devel/share/uml_hri_nerve_navigation/cmake/uml_hri_nerve_navigation-msg-extras.cmake @@ -0,0 +1,2 @@ +set(uml_hri_nerve_navigation_MESSAGE_FILES "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/SimLog.msg;/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg/Goal.msg") +set(uml_hri_nerve_navigation_SERVICE_FILES "") diff --git a/build/devel/share/uml_hri_nerve_navigation/cmake/uml_hri_nerve_navigation-msg-paths.cmake b/build/devel/share/uml_hri_nerve_navigation/cmake/uml_hri_nerve_navigation-msg-paths.cmake new file mode 100644 index 0000000..282bf7e --- /dev/null +++ b/build/devel/share/uml_hri_nerve_navigation/cmake/uml_hri_nerve_navigation-msg-paths.cmake @@ -0,0 +1,4 @@ +# generated from genmsg/cmake/pkg-msg-paths.cmake.develspace.in + +set(uml_hri_nerve_navigation_MSG_INCLUDE_DIRS "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/msg") +set(uml_hri_nerve_navigation_MSG_DEPENDENCIES std_msgs;geometry_msgs) diff --git a/build/devel/share/uml_hri_nerve_navigation/cmake/uml_hri_nerve_navigationConfig-version.cmake b/build/devel/share/uml_hri_nerve_navigation/cmake/uml_hri_nerve_navigationConfig-version.cmake new file mode 100644 index 0000000..7fd9f99 --- /dev/null +++ b/build/devel/share/uml_hri_nerve_navigation/cmake/uml_hri_nerve_navigationConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/build/devel/share/uml_hri_nerve_navigation/cmake/uml_hri_nerve_navigationConfig.cmake b/build/devel/share/uml_hri_nerve_navigation/cmake/uml_hri_nerve_navigationConfig.cmake new file mode 100644 index 0000000..721a86a --- /dev/null +++ b/build/devel/share/uml_hri_nerve_navigation/cmake/uml_hri_nerve_navigationConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(uml_hri_nerve_navigation_CONFIG_INCLUDED) + return() +endif() +set(uml_hri_nerve_navigation_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(uml_hri_nerve_navigation_SOURCE_PREFIX /home/csrobot/catkin_ws/src/uml_hri_nerve_navigation) + set(uml_hri_nerve_navigation_DEVEL_PREFIX /home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel) + set(uml_hri_nerve_navigation_INSTALL_PREFIX "") + set(uml_hri_nerve_navigation_PREFIX ${uml_hri_nerve_navigation_DEVEL_PREFIX}) +else() + set(uml_hri_nerve_navigation_SOURCE_PREFIX "") + set(uml_hri_nerve_navigation_DEVEL_PREFIX "") + set(uml_hri_nerve_navigation_INSTALL_PREFIX /usr/local) + set(uml_hri_nerve_navigation_PREFIX ${uml_hri_nerve_navigation_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'uml_hri_nerve_navigation' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(uml_hri_nerve_navigation_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel/include " STREQUAL " ") + set(uml_hri_nerve_navigation_INCLUDE_DIRS "") + set(_include_dirs "/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel/include") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'charlie ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${uml_hri_nerve_navigation_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'uml_hri_nerve_navigation' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'uml_hri_nerve_navigation' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/${idir}'. ${_report}") + endif() + _list_append_unique(uml_hri_nerve_navigation_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND uml_hri_nerve_navigation_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND uml_hri_nerve_navigation_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT uml_hri_nerve_navigation_NUM_DUMMY_TARGETS) + set(uml_hri_nerve_navigation_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::uml_hri_nerve_navigation::wrapped-linker-option${uml_hri_nerve_navigation_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR uml_hri_nerve_navigation_NUM_DUMMY_TARGETS "${uml_hri_nerve_navigation_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::uml_hri_nerve_navigation::wrapped-linker-option${uml_hri_nerve_navigation_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND uml_hri_nerve_navigation_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND uml_hri_nerve_navigation_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND uml_hri_nerve_navigation_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/csrobot/catkin_ws/src/uml_hri_nerve_navigation/build/devel/lib;/home/csrobot/catkin_ws/devel/lib;/opt/ros/melodic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(uml_hri_nerve_navigation_LIBRARY_DIRS ${lib_path}) + list(APPEND uml_hri_nerve_navigation_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'uml_hri_nerve_navigation'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND uml_hri_nerve_navigation_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(uml_hri_nerve_navigation_EXPORTED_TARGETS "uml_hri_nerve_navigation_generate_messages_cpp;uml_hri_nerve_navigation_generate_messages_eus;uml_hri_nerve_navigation_generate_messages_lisp;uml_hri_nerve_navigation_generate_messages_nodejs;uml_hri_nerve_navigation_generate_messages_py") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${uml_hri_nerve_navigation_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "roscpp;std_msgs;std_srvs;tf2;tf2_ros;geometry_msgs;message_runtime;move_base_msgs;actionlib;gazebo_msgs;tuw_local_controller_msgs;tuw_multi_robot_msgs") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 uml_hri_nerve_navigation_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${uml_hri_nerve_navigation_dep}_FOUND) + find_package(${uml_hri_nerve_navigation_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${uml_hri_nerve_navigation_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(uml_hri_nerve_navigation_INCLUDE_DIRS ${${uml_hri_nerve_navigation_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(uml_hri_nerve_navigation_LIBRARIES ${uml_hri_nerve_navigation_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${uml_hri_nerve_navigation_dep}_LIBRARIES}) + 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b/launch/multiple_robots_testing/checker.launch @@ -0,0 +1,10 @@ + + + + + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/move_base_checker.launch b/launch/multiple_robots_testing/move_base_checker.launch new file mode 100644 index 0000000..3b458ef --- /dev/null +++ b/launch/multiple_robots_testing/move_base_checker.launch @@ -0,0 +1,10 @@ + + + + + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/multiple_robots_test_goal_sender.launch b/launch/multiple_robots_testing/multiple_robots_test_goal_sender.launch new file mode 100644 index 0000000..616a6df --- /dev/null +++ b/launch/multiple_robots_testing/multiple_robots_test_goal_sender.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/navigation/amcl_ns.launch b/launch/multiple_robots_testing/navigation/amcl_ns.launch new file mode 100644 index 0000000..1243c41 --- /dev/null +++ b/launch/multiple_robots_testing/navigation/amcl_ns.launch @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/multiple_robots_testing/navigation/move_base_def.launch b/launch/multiple_robots_testing/navigation/move_base_def.launch new file mode 100644 index 0000000..037cd0b --- /dev/null +++ b/launch/multiple_robots_testing/navigation/move_base_def.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/multiple_robots_testing/navigation/move_base_flex.launch b/launch/multiple_robots_testing/navigation/move_base_flex.launch new file mode 100644 index 0000000..eb99f9f --- /dev/null +++ b/launch/multiple_robots_testing/navigation/move_base_flex.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/navigation/navigation_mb.launch b/launch/multiple_robots_testing/navigation/navigation_mb.launch new file mode 100644 index 0000000..2f80622 --- /dev/null +++ b/launch/multiple_robots_testing/navigation/navigation_mb.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/multiple_robots_testing/navigation/new_mb.launch b/launch/multiple_robots_testing/navigation/new_mb.launch new file mode 100644 index 0000000..c644257 --- /dev/null +++ b/launch/multiple_robots_testing/navigation/new_mb.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/multiple_robots_testing/navigation/new_mbf.launch b/launch/multiple_robots_testing/navigation/new_mbf.launch new file mode 100644 index 0000000..8ee171f --- /dev/null +++ b/launch/multiple_robots_testing/navigation/new_mbf.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/odom_filter.launch b/launch/multiple_robots_testing/odom_filter.launch new file mode 100644 index 0000000..183db14 --- /dev/null +++ b/launch/multiple_robots_testing/odom_filter.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/robot_checker.launch b/launch/multiple_robots_testing/robot_checker.launch new file mode 100644 index 0000000..6534cd0 --- /dev/null +++ b/launch/multiple_robots_testing/robot_checker.launch @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/robot_mover.launch b/launch/multiple_robots_testing/robot_mover.launch new file mode 100644 index 0000000..d8e193c --- /dev/null +++ b/launch/multiple_robots_testing/robot_mover.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/launch/multiple_robots_testing/robot_mover_mbf.launch b/launch/multiple_robots_testing/robot_mover_mbf.launch new file mode 100644 index 0000000..c61551c --- /dev/null +++ b/launch/multiple_robots_testing/robot_mover_mbf.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/launch/multiple_robots_testing/run_multiple_robots_test.launch b/launch/multiple_robots_testing/run_multiple_robots_test.launch new file mode 100644 index 0000000..b505070 --- /dev/null +++ b/launch/multiple_robots_testing/run_multiple_robots_test.launch @@ -0,0 +1,105 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + e + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/multiple_robots_testing/setup_pioneer.launch b/launch/multiple_robots_testing/setup_pioneer.launch new file mode 100644 index 0000000..0f21a00 --- /dev/null +++ b/launch/multiple_robots_testing/setup_pioneer.launch @@ -0,0 +1,156 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/setup_pioneer_mbf.launch b/launch/multiple_robots_testing/setup_pioneer_mbf.launch new file mode 100644 index 0000000..0f21a00 --- /dev/null +++ b/launch/multiple_robots_testing/setup_pioneer_mbf.launch @@ -0,0 +1,156 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/setup_test_multiple_robots.launch b/launch/multiple_robots_testing/setup_test_multiple_robots.launch new file mode 100644 index 0000000..33811a4 --- /dev/null +++ b/launch/multiple_robots_testing/setup_test_multiple_robots.launch @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/start_roscore.launch b/launch/multiple_robots_testing/start_roscore.launch new file mode 100644 index 0000000..10e7797 --- /dev/null +++ b/launch/multiple_robots_testing/start_roscore.launch @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/test_runner.launch b/launch/multiple_robots_testing/test_runner.launch new file mode 100644 index 0000000..8d1d360 --- /dev/null +++ b/launch/multiple_robots_testing/test_runner.launch @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/tester_checker.launch b/launch/multiple_robots_testing/tester_checker.launch new file mode 100644 index 0000000..f4272af --- /dev/null +++ b/launch/multiple_robots_testing/tester_checker.launch @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/tester_goal_publisher.launch b/launch/multiple_robots_testing/tester_goal_publisher.launch new file mode 100644 index 0000000..872ed57 --- /dev/null +++ b/launch/multiple_robots_testing/tester_goal_publisher.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/tuw/local_controller_recursive_gz.launch b/launch/multiple_robots_testing/tuw/local_controller_recursive_gz.launch new file mode 100644 index 0000000..c9426cd --- /dev/null +++ b/launch/multiple_robots_testing/tuw/local_controller_recursive_gz.launch @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/multiple_robots_testing/tuw/mbf_local_controller.launch b/launch/multiple_robots_testing/tuw/mbf_local_controller.launch new file mode 100644 index 0000000..90bc203 --- /dev/null +++ b/launch/multiple_robots_testing/tuw/mbf_local_controller.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/multiple_robots_testing/tuw/tuw.launch b/launch/multiple_robots_testing/tuw/tuw.launch new file mode 100644 index 0000000..67abd1d --- /dev/null +++ b/launch/multiple_robots_testing/tuw/tuw.launch @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/tuw_logger.launch b/launch/multiple_robots_testing/tuw_logger.launch new file mode 100644 index 0000000..ab8c124 --- /dev/null +++ b/launch/multiple_robots_testing/tuw_logger.launch @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/launch/multiple_robots_testing/tuw_mbf_test.launch b/launch/multiple_robots_testing/tuw_mbf_test.launch new file mode 100644 index 0000000..da13ffe --- /dev/null +++ b/launch/multiple_robots_testing/tuw_mbf_test.launch @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/navigation/amcl.launch b/launch/navigation/amcl.launch index f6ef86c..b9f2554 100644 --- a/launch/navigation/amcl.launch +++ b/launch/navigation/amcl.launch @@ -5,9 +5,9 @@ - - - + + + diff --git a/launch/navigation/gmapper.launch b/launch/navigation/gmapper.launch index 6562f3d..28df23f 100644 --- a/launch/navigation/gmapper.launch +++ b/launch/navigation/gmapper.launch @@ -1,19 +1,19 @@ - - - + + + - - - - + + + + diff --git a/launch/navigation/map_server.launch b/launch/navigation/map_server.launch index a6049ee..c47d1e3 100644 --- a/launch/navigation/map_server.launch +++ b/launch/navigation/map_server.launch @@ -1,7 +1,7 @@ - + + @@ -26,6 +27,7 @@ + diff --git a/launch/navigation/navigation_2d.launch b/launch/navigation/navigation_2d.launch index 97b2bf9..8c6e81f 100644 --- a/launch/navigation/navigation_2d.launch +++ b/launch/navigation/navigation_2d.launch @@ -16,7 +16,7 @@ - + diff --git a/launch/navigation/pose_publisher.launch b/launch/navigation/pose_publisher.launch index 1f106f1..4d1bb15 100644 --- a/launch/navigation/pose_publisher.launch +++ b/launch/navigation/pose_publisher.launch @@ -1,14 +1,23 @@ - + + - - + + - + \ No newline at end of file diff --git a/launch/robots/setup_pioneer.launch b/launch/robots/setup_pioneer.launch index dfcbfc1..8fde515 100644 --- a/launch/robots/setup_pioneer.launch +++ b/launch/robots/setup_pioneer.launch @@ -21,10 +21,16 @@ - + + + + + + diff --git a/launch/setup_test.launch b/launch/setup_test.launch index 16ad15f..9bc4879 100644 --- a/launch/setup_test.launch +++ b/launch/setup_test.launch @@ -17,8 +17,8 @@ - - + + @@ -33,6 +33,7 @@ + @@ -59,6 +60,7 @@ + @@ -77,7 +79,7 @@ - + diff --git a/launch/start_loggers.launch b/launch/start_loggers.launch index e248980..b46d6bd 100644 --- a/launch/start_loggers.launch +++ b/launch/start_loggers.launch @@ -2,20 +2,74 @@ - + + + + + + + - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + @@ -23,7 +77,7 @@ - + @@ -32,5 +86,6 @@ - + + \ No newline at end of file diff --git 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Studio/2019/Community/Common7/IDE/CommonExtensions/Microsoft/CMake/CMake/bin/cmake.exe +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Path to a program. +CMAKE_AR:FILEPATH=C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.29.30133/bin/Hostx64/x64/lib.exe + +//No help, variable specified on the command line. +CMAKE_BUILD_TYPE:STRING=Debug + +//No help, variable specified on the command line. +CMAKE_CXX_COMPILER:FILEPATH=C:/Program Files (x86)/Microsoft Visual 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DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a versio is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdC/CMakeCCompilerId.exe b/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdC/CMakeCCompilerId.exe new file mode 100644 index 0000000..00fb367 Binary files /dev/null and b/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdC/CMakeCCompilerId.exe differ diff --git a/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdC/CMakeCCompilerId.obj b/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdC/CMakeCCompilerId.obj new file mode 100644 index 0000000..5b6cfce Binary files /dev/null and b/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdC/CMakeCCompilerId.obj differ diff --git a/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..d7401ba --- /dev/null +++ b/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,734 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a versio is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 202002L + "23" +#elif CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} diff --git a/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdCXX/CMakeCXXCompilerId.exe b/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdCXX/CMakeCXXCompilerId.exe new file mode 100644 index 0000000..4f8faa8 Binary files /dev/null and b/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdCXX/CMakeCXXCompilerId.exe differ diff --git a/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdCXX/CMakeCXXCompilerId.obj b/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdCXX/CMakeCXXCompilerId.obj new file mode 100644 index 0000000..562bacd Binary files /dev/null and b/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdCXX/CMakeCXXCompilerId.obj differ diff --git a/out/build/x64-Debug/CMakeFiles/CMakeOutput.log b/out/build/x64-Debug/CMakeFiles/CMakeOutput.log new file mode 100644 index 0000000..61bdde6 --- /dev/null +++ b/out/build/x64-Debug/CMakeFiles/CMakeOutput.log @@ -0,0 +1,65 @@ +The system is: Windows - 10.0.19042 - AMD64 +Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded. +Compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.29.30133/bin/Hostx64/x64/cl.exe +Build flags: +Id flags: + +The output was: +0 +Microsoft (R) C/C++ Optimizing Compiler Version 19.29.30133 for x64 +Copyright (C) Microsoft Corporation. All rights reserved. + +CMakeCCompilerId.c +Microsoft (R) Incremental Linker Version 14.29.30133.0 +Copyright (C) Microsoft Corporation. All rights reserved. + +/out:CMakeCCompilerId.exe +CMakeCCompilerId.obj + + +Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "CMakeCCompilerId.exe" + +Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "CMakeCCompilerId.obj" + +The C compiler identification is MSVC, found in "C:/Users/yashj/Downloads/uml_hri_nerve_navigation-dev-ypatel (1)/uml_hri_nerve_navigation-dev-ypatel/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdC/CMakeCCompilerId.exe" + +Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded. +Compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.29.30133/bin/Hostx64/x64/cl.exe +Build flags: +Id flags: + +The output was: +0 +Microsoft (R) C/C++ Optimizing Compiler Version 19.29.30133 for x64 +Copyright (C) Microsoft Corporation. All rights reserved. + +CMakeCXXCompilerId.cpp +Microsoft (R) Incremental Linker Version 14.29.30133.0 +Copyright (C) Microsoft Corporation. All rights reserved. + +/out:CMakeCXXCompilerId.exe +CMakeCXXCompilerId.obj + + +Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "CMakeCXXCompilerId.exe" + +Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "CMakeCXXCompilerId.obj" + +The CXX compiler identification is MSVC, found in "C:/Users/yashj/Downloads/uml_hri_nerve_navigation-dev-ypatel (1)/uml_hri_nerve_navigation-dev-ypatel/out/build/x64-Debug/CMakeFiles/3.20.21032501-MSVC_2/CompilerIdCXX/CMakeCXXCompilerId.exe" + +Detecting C compiler ABI info compiled with the following output: +Change Dir: C:/Users/yashj/Downloads/uml_hri_nerve_navigation-dev-ypatel (1)/uml_hri_nerve_navigation-dev-ypatel/out/build/x64-Debug/CMakeFiles/CMakeTmp + +Run Build Command(s):C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/Common7/IDE/CommonExtensions/Microsoft/CMake/Ninja/ninja.exe cmTC_50ca5 && [1/2] Building C object CMakeFiles\cmTC_50ca5.dir\CMakeCCompilerABI.c.obj +[2/2] Linking C executable cmTC_50ca5.exe + + + +Detecting CXX compiler ABI info compiled with the following output: +Change Dir: C:/Users/yashj/Downloads/uml_hri_nerve_navigation-dev-ypatel (1)/uml_hri_nerve_navigation-dev-ypatel/out/build/x64-Debug/CMakeFiles/CMakeTmp + +Run Build Command(s):C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/Common7/IDE/CommonExtensions/Microsoft/CMake/Ninja/ninja.exe cmTC_2c4a8 && [1/2] Building CXX object CMakeFiles\cmTC_2c4a8.dir\CMakeCXXCompilerABI.cpp.obj +[2/2] Linking CXX executable cmTC_2c4a8.exe + + + diff --git a/out/build/x64-Debug/CMakeFiles/ShowIncludes/foo.h b/out/build/x64-Debug/CMakeFiles/ShowIncludes/foo.h new file mode 100644 index 0000000..d3f5a12 --- /dev/null +++ b/out/build/x64-Debug/CMakeFiles/ShowIncludes/foo.h @@ -0,0 +1 @@ + diff --git a/out/build/x64-Debug/CMakeFiles/ShowIncludes/main.c b/out/build/x64-Debug/CMakeFiles/ShowIncludes/main.c new file mode 100644 index 0000000..b63620b --- /dev/null +++ b/out/build/x64-Debug/CMakeFiles/ShowIncludes/main.c @@ -0,0 +1,2 @@ +#include "foo.h" +int main(){} diff --git a/out/build/x64-Debug/CMakeFiles/ShowIncludes/main.obj b/out/build/x64-Debug/CMakeFiles/ShowIncludes/main.obj new file mode 100644 index 0000000..799c4ec Binary files /dev/null and b/out/build/x64-Debug/CMakeFiles/ShowIncludes/main.obj differ diff --git a/out/build/x64-Debug/CMakeFiles/cmake.check_cache b/out/build/x64-Debug/CMakeFiles/cmake.check_cache new file mode 100644 index 0000000..56c437b --- /dev/null +++ b/out/build/x64-Debug/CMakeFiles/cmake.check_cache @@ -0,0 +1 @@ +# This file is generated by cmake for dependency checking of the CMakeCache.txt file diff --git a/out/build/x64-Debug/VSInheritEnvironments.txt b/out/build/x64-Debug/VSInheritEnvironments.txt new file mode 100644 index 0000000..f8cc9d8 --- /dev/null +++ b/out/build/x64-Debug/VSInheritEnvironments.txt @@ -0,0 +1 @@ +msvc_x64_x64 \ No newline at end of file diff --git a/package.xml b/package.xml index 35b97a9..9af5407 100644 --- a/package.xml +++ b/package.xml @@ -76,6 +76,10 @@ teleop_twist_keyboard tf2 tf2_ros + + tuw_local_controller_msgs + tuw_multi_robot_msgs + laser_filters roscpp std_msgs @@ -102,6 +106,12 @@ teleop_twist_keyboard tf2 tf2_ros + + tuw_local_controller_msgs + tuw_multi_robot_msgs + tuw_local_controller_msgs + tuw_multi_robot_msgs + laser_filters roscpp std_msgs diff --git a/resources/config/default_pioneer/base_local_planner_params.yaml b/resources/config/default_pioneer/base_local_planner_params.yaml new file mode 100644 index 0000000..8d5299a --- /dev/null +++ b/resources/config/default_pioneer/base_local_planner_params.yaml @@ -0,0 +1,16 @@ +TrajectoryPlannerROS: + max_vel_x: 0.6 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/default_pioneer/costmap_common_params.yaml b/resources/config/default_pioneer/costmap_common_params.yaml new file mode 100644 index 0000000..c45a311 --- /dev/null +++ b/resources/config/default_pioneer/costmap_common_params.yaml @@ -0,0 +1,42 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: urg_link, data_type: LaserScan, topic: /pioneer/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} + + +# obstacle_range: 2.5 +# raytrace_range: 3.0 +# inflation_radius: 0.45 + +# # Standard pioneer3dx footprint (meters) +# footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# # Generous footprint for safety +# # footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +# footprint_padding: 0.0 + +# transform_tolerance: 0.3 +# map_type: costmap + +# observation_sources: laser_scan_sensor + +# # laser_scan_sensor: {sensor_frame: /hokuyo_tf, data_type: LaserScan, topic: /pioneer/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} +# laser_scan_sensor: {sensor_frame: urg_link, data_type: LaserScan, topic: /pioneer/frontscan, marking: true, clearing: true, expected_update_rate: 0.5} + + +# #point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/default_pioneer/global_costmap_params.yaml b/resources/config/default_pioneer/global_costmap_params.yaml new file mode 100644 index 0000000..0a0b3ee --- /dev/null +++ b/resources/config/default_pioneer/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: pioneer/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/default_pioneer/local_costmap_params.yaml b/resources/config/default_pioneer/local_costmap_params.yaml new file mode 100644 index 0000000..e78688c --- /dev/null +++ b/resources/config/default_pioneer/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: map + robot_base_frame: pioneer/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/default_pioneer_bot/base_local_planner_params.yaml b/resources/config/default_pioneer_bot/base_local_planner_params.yaml new file mode 100644 index 0000000..ab4d04d --- /dev/null +++ b/resources/config/default_pioneer_bot/base_local_planner_params.yaml @@ -0,0 +1,16 @@ +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/default_pioneer_bot/costmap_common_params.yaml b/resources/config/default_pioneer_bot/costmap_common_params.yaml new file mode 100644 index 0000000..f38fa2e --- /dev/null +++ b/resources/config/default_pioneer_bot/costmap_common_params.yaml @@ -0,0 +1,20 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: pioneer_bot/hokuyo_front_link, data_type: LaserScan, topic: /pioneer_bot/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/default_pioneer_bot/global_costmap_params.yaml b/resources/config/default_pioneer_bot/global_costmap_params.yaml new file mode 100644 index 0000000..50b042f --- /dev/null +++ b/resources/config/default_pioneer_bot/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: pioneer_bot/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/default_pioneer_bot/local_costmap_params.yaml b/resources/config/default_pioneer_bot/local_costmap_params.yaml new file mode 100644 index 0000000..1b2f1f8 --- /dev/null +++ b/resources/config/default_pioneer_bot/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: pioneer_bot/odom + robot_base_frame: pioneer_bot/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/obsbot_mbf/base_local_planner_params.yaml b/resources/config/obsbot_mbf/base_local_planner_params.yaml new file mode 100644 index 0000000..0c2eff7 --- /dev/null +++ b/resources/config/obsbot_mbf/base_local_planner_params.yaml @@ -0,0 +1,20 @@ +controllers: + - name: 'TrajectoryPlannerROS' + type: 'base_local_planner/TrajectoryPlannerROS' + +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/obsbot_mbf/controllers.yaml b/resources/config/obsbot_mbf/controllers.yaml new file mode 100644 index 0000000..3737dcf --- /dev/null +++ b/resources/config/obsbot_mbf/controllers.yaml @@ -0,0 +1,20 @@ +controllers: + - name: 'TrajectoryPlannerROS' + type: 'base_local_planner/TrajectoryPlannerROS' + +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/obsbot_mbf/costmap_common_params.yaml b/resources/config/obsbot_mbf/costmap_common_params.yaml new file mode 100644 index 0000000..90af40b --- /dev/null +++ b/resources/config/obsbot_mbf/costmap_common_params.yaml @@ -0,0 +1,20 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: obs_bot/scan_link, data_type: LaserScan, topic: /obs_bot/scan, marking: true, clearing: true, expected_update_rate: 0.2} + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/obsbot_mbf/global_costmap_params.yaml b/resources/config/obsbot_mbf/global_costmap_params.yaml new file mode 100644 index 0000000..3e7351c --- /dev/null +++ b/resources/config/obsbot_mbf/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: obs_bot/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/obsbot_mbf/local_costmap_params.yaml b/resources/config/obsbot_mbf/local_costmap_params.yaml new file mode 100644 index 0000000..51a948d --- /dev/null +++ b/resources/config/obsbot_mbf/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: obs_bot/odom + robot_base_frame: obs_bot/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/obsbot_mbf/planners.yaml b/resources/config/obsbot_mbf/planners.yaml new file mode 100644 index 0000000..3086ab9 --- /dev/null +++ b/resources/config/obsbot_mbf/planners.yaml @@ -0,0 +1,16 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 + diff --git a/resources/config/obsbot_mbf/recovery_behaviors.yaml b/resources/config/obsbot_mbf/recovery_behaviors.yaml new file mode 100644 index 0000000..99e917a --- /dev/null +++ b/resources/config/obsbot_mbf/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' +# - name: 'moveback_recovery' +# type: 'moveback_recovery/MoveBackRecovery' + +# moveback_recovery: +# linear_vel_back: -0.1 # default -0.3 +# step_back_length: 0.3 # default 1.0 +# step_back_timeout: 5.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/obstacle_bot/navigation/2d/controllers.yaml b/resources/config/obstacle_bot/navigation/2d/controllers.yaml new file mode 100644 index 0000000..1a42b4e --- /dev/null +++ b/resources/config/obstacle_bot/navigation/2d/controllers.yaml @@ -0,0 +1,81 @@ +controllers: + - name: 'DWAPlannerROS' + type: 'dwa_local_planner/DWAPlannerROS' + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/obstacle_bot/navigation/2d/planners.yaml b/resources/config/obstacle_bot/navigation/2d/planners.yaml new file mode 100644 index 0000000..55a8eaa --- /dev/null +++ b/resources/config/obstacle_bot/navigation/2d/planners.yaml @@ -0,0 +1,29 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' + - name: 'SBPLLatticePlanner' + type: 'SBPLLatticePlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 +SBPLLatticePlanner: + planner_type: 'ARAPlanner' + allocated_time: 20.0 # default: 10.0 + initial_epsilon: 3.0 + environment_type: 'XYThetaLattice' # The only environment supported + forward_search: true # default is false + # NOTE: param 'primitive_filename'. This needs to be set to the path to 'ceres_navigation/mprim/ceres_5cm.mprim' + # You may put it in the mprim.yaml file, which is ignored by git, so everybody can setup his own path. + nominalvel_mpersecs: 0.7 + timetoturn45degsinplace_secs: 0.6 + lethal_obstacle: 250 + diff --git a/resources/config/obstacle_bot/navigation/2d/recovery_behaviors.yaml b/resources/config/obstacle_bot/navigation/2d/recovery_behaviors.yaml new file mode 100644 index 0000000..81e8114 --- /dev/null +++ b/resources/config/obstacle_bot/navigation/2d/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'moveback_recovery' + type: 'moveback_recovery/MoveBackRecovery' + +moveback_recovery: + linear_vel_back: -0.1 # default -0.3 + step_back_length: 0.3 # default 1.0 + step_back_timeout: 5.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/physical/default_pioneer/base_local_planner_params.yaml b/resources/config/physical/default_pioneer/base_local_planner_params.yaml new file mode 100644 index 0000000..ab4d04d --- /dev/null +++ b/resources/config/physical/default_pioneer/base_local_planner_params.yaml @@ -0,0 +1,16 @@ +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/physical/default_pioneer/costmap_common_params.yaml b/resources/config/physical/default_pioneer/costmap_common_params.yaml new file mode 100644 index 0000000..48de056 --- /dev/null +++ b/resources/config/physical/default_pioneer/costmap_common_params.yaml @@ -0,0 +1,22 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.45 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.3 +map_type: costmap + +observation_sources: laser_scan_sensor + +# laser_scan_sensor: {sensor_frame: /hokuyo_tf, data_type: LaserScan, topic: /pioneer/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} +laser_scan_sensor: {sensor_frame: urg_link, data_type: LaserScan, topic: /pioneer/frontscan, marking: true, clearing: true, expected_update_rate: 0.5} + + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/physical/default_pioneer/global_costmap_params.yaml b/resources/config/physical/default_pioneer/global_costmap_params.yaml new file mode 100644 index 0000000..0a0b3ee --- /dev/null +++ b/resources/config/physical/default_pioneer/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: pioneer/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/physical/default_pioneer/local_costmap_params.yaml b/resources/config/physical/default_pioneer/local_costmap_params.yaml new file mode 100644 index 0000000..e78688c --- /dev/null +++ b/resources/config/physical/default_pioneer/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: map + robot_base_frame: pioneer/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/physical/default_pioneer_bot/base_local_planner_params.yaml b/resources/config/physical/default_pioneer_bot/base_local_planner_params.yaml new file mode 100644 index 0000000..ab4d04d --- /dev/null +++ b/resources/config/physical/default_pioneer_bot/base_local_planner_params.yaml @@ -0,0 +1,16 @@ +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/physical/default_pioneer_bot/costmap_common_params.yaml b/resources/config/physical/default_pioneer_bot/costmap_common_params.yaml new file mode 100644 index 0000000..f38fa2e --- /dev/null +++ b/resources/config/physical/default_pioneer_bot/costmap_common_params.yaml @@ -0,0 +1,20 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: pioneer_bot/hokuyo_front_link, data_type: LaserScan, topic: /pioneer_bot/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/physical/default_pioneer_bot/global_costmap_params.yaml b/resources/config/physical/default_pioneer_bot/global_costmap_params.yaml new file mode 100644 index 0000000..50b042f --- /dev/null +++ b/resources/config/physical/default_pioneer_bot/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: pioneer_bot/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/physical/default_pioneer_bot/local_costmap_params.yaml b/resources/config/physical/default_pioneer_bot/local_costmap_params.yaml new file mode 100644 index 0000000..1b2f1f8 --- /dev/null +++ b/resources/config/physical/default_pioneer_bot/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: pioneer_bot/odom + robot_base_frame: pioneer_bot/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/physical/fetch/config.rviz b/resources/config/physical/fetch/config.rviz new file mode 100644 index 0000000..e853fe9 --- /dev/null +++ b/resources/config/physical/fetch/config.rviz @@ -0,0 +1,585 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Costmap1 + - /Local Costmap1/Position1 + - /PointCloud21 + Splitter Ratio: 0.5 + Tree Height: 726 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map (map_server) + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Map (octomap) + Topic: /projected_map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: false + Name: Map (negative_octomap) + Topic: /projected_map_negative + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.5 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.30000001192092896 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 50 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 0.25 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /odom + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose CurrentGoal + Shaft Length: 0.5 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /move_base/current_goal + Unreliable: false + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.029999999329447746 + Name: Global Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/GlobalPlanner/plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 42; 5; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.029999999329447746 + Name: Scope Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Local Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Robot Footprint + Topic: /move_base/global_costmap/footprint + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bellows_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bellows_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + estop_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_fixed_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + upperarm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 8.147082328796387 + Min Value: -0.6639216542243958 + Value: true + Axis: X + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: 8.407790785948902e-45 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Spheres + Topic: /base_scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /head_camera/depth_downsample/points_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: octomap_rviz_plugin/OccupancyGrid + Enabled: false + Max. Height Display: 3.4028234663852886e+38 + Max. Octree Depth: 16 + Min. Height Display: -3.4028234663852886e+38 + Name: Octomap + Octomap Topic: /octomap_binary + Queue Size: 5 + Value: false + Voxel Alpha: 1 + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: amcl/initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/ThirdPersonFollower + Distance: 5.126427173614502 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.4553984999656677 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.155397653579712 + Saved: + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Top Down + Near Clip Distance: 0.009999999776482582 + Scale: 20 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/ThirdPersonFollower + Distance: 7.522579193115234 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot Follower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.49039846658706665 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.1853983402252197 + - Class: rviz/XYOrbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot Orbit + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5953983664512634 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 4.125402927398682 +Window Geometry: + Displays: + collapsed: false + Height: 1023 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1267 + X: 653 + Y: 27 diff --git a/resources/config/physical/fetch/costmap_height.yaml b/resources/config/physical/fetch/costmap_height.yaml new file mode 100644 index 0000000..238f3e3 --- /dev/null +++ b/resources/config/physical/fetch/costmap_height.yaml @@ -0,0 +1,3 @@ +3d_obstacles: + positive_obstacle: + max_obstacle_height: 1.5 \ No newline at end of file diff --git a/resources/config/physical/fetch/default_controllers.yaml b/resources/config/physical/fetch/default_controllers.yaml new file mode 100644 index 0000000..fa3f07f --- /dev/null +++ b/resources/config/physical/fetch/default_controllers.yaml @@ -0,0 +1,241 @@ +arm_controller: + follow_joint_trajectory: + type: "robot_controllers/FollowJointTrajectoryController" + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - upperarm_roll_joint + - elbow_flex_joint + - forearm_roll_joint + - wrist_flex_joint + - wrist_roll_joint + gravity_compensation: + type: "robot_controllers/GravityCompensation" + root: "torso_lift_link" + tip: "gripper_link" + autostart: true + +arm_with_torso_controller: + follow_joint_trajectory: + type: "robot_controllers/FollowJointTrajectoryController" + joints: + - torso_lift_joint + - shoulder_pan_joint + - shoulder_lift_joint + - upperarm_roll_joint + - elbow_flex_joint + - forearm_roll_joint + - wrist_flex_joint + - wrist_roll_joint + +torso_controller: + follow_joint_trajectory: + type: "robot_controllers/FollowJointTrajectoryController" + joints: + - torso_lift_joint + +head_controller: + point_head: + type: "robot_controllers/PointHeadController" + follow_joint_trajectory: + type: "robot_controllers/FollowJointTrajectoryController" + joints: + - head_pan_joint + - head_tilt_joint + +base_controller: + type: "robot_controllers/DiffDriveBaseController" + autostart: true + +gripper_controller: + gripper_action: + type: "robot_controllers/ParallelGripperController" + centering: + p: 1000.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + +bellows_controller: + type: "robot_controllers/ScaledMimicController" + mimic_joint: "torso_lift_joint" + controlled_joint: "bellows_joint" + mimic_scale: 0.5 + autostart: true + +gazebo: + default_controllers: + - "arm_controller/follow_joint_trajectory" + - "arm_controller/gravity_compensation" + - "arm_with_torso_controller/follow_joint_trajectory" + - "base_controller" + - "head_controller/follow_joint_trajectory" + - "head_controller/point_head" + - "torso_controller/follow_joint_trajectory" + - "gripper_controller/gripper_action" + - "bellows_controller" + l_wheel_joint: + position: + p: 0.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 8.85 + d: 0.0 + i: 0.5 + i_clamp: 6.0 + r_wheel_joint: + position: + p: 0.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 8.85 + d: 0.0 + i: 0.5 + i_clamp: 6.0 + torso_lift_joint: + position: + p: 1000.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 100000.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + bellows_joint: + position: + p: 10.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 25.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + head_pan_joint: + position: + p: 2.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 2.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + head_tilt_joint: + position: + p: 10.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 3.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + shoulder_pan_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 200.0 + d: 0.0 + i: 2.0 + i_clamp: 1.0 + shoulder_lift_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 200.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + upperarm_roll_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 10.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + elbow_flex_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 150.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + forearm_roll_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 150.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + wrist_flex_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 100.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + wrist_roll_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 100.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + l_gripper_finger_joint: + position: + p: 5000.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 0.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + r_gripper_finger_joint: + position: + p: 5000.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 0.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 \ No newline at end of file diff --git a/resources/config/physical/fetch/laserfilter_config.yaml b/resources/config/physical/fetch/laserfilter_config.yaml new file mode 100644 index 0000000..6cbfd20 --- /dev/null +++ b/resources/config/physical/fetch/laserfilter_config.yaml @@ -0,0 +1,10 @@ +# http://wiki.ros.org/laser_filters#LaserScanRangeFilter +scan_filter_chain: +- name: range + type: laser_filters/LaserScanRangeFilter + params: + use_message_range_limits: false + lower_threshold: 0.1 + upper_threshold: .inf + lower_replacement_value: 0.1 + upper_replacement_value: 10.0 diff --git a/resources/config/physical/fetch/navigation/2d/base_local_planner_params.yaml b/resources/config/physical/fetch/navigation/2d/base_local_planner_params.yaml new file mode 100644 index 0000000..cca0df3 --- /dev/null +++ b/resources/config/physical/fetch/navigation/2d/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.6 #safe speed for fetch to travel at + min_vel_x: 0 + max_trans_vel: 0.6 + min_trans_vel: 0.1 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 1.5 + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 0.7 + acc_lim_y: 0 #diff drive + acc_limit_trans: 0.7 + acc_lim_theta: 4 + + #forward sim params + sim_time: 1.1 + vx_samples: 5 + vy_samples: 0 #diff drive + vth_samples: 15 + + #scoring params + path_distance_bias: 80 + goal_distance_bias: 60 + occdist_scale: 1.4 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/physical/fetch/navigation/2d/costmap_common_params.yaml b/resources/config/physical/fetch/navigation/2d/costmap_common_params.yaml new file mode 100644 index 0000000..9a658c5 --- /dev/null +++ b/resources/config/physical/fetch/navigation/2d/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /base_scan, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/physical/fetch/navigation/2d/global_costmap_params.yaml b/resources/config/physical/fetch/navigation/2d/global_costmap_params.yaml new file mode 100644 index 0000000..ca15b85 --- /dev/null +++ b/resources/config/physical/fetch/navigation/2d/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 0.5 + static_map: + map_topic: /map + + diff --git a/resources/config/physical/fetch/navigation/2d/global_planner_params.yaml b/resources/config/physical/fetch/navigation/2d/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/physical/fetch/navigation/2d/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/physical/fetch/navigation/2d/local_costmap_params.yaml b/resources/config/physical/fetch/navigation/2d/local_costmap_params.yaml new file mode 100644 index 0000000..9dd6de2 --- /dev/null +++ b/resources/config/physical/fetch/navigation/2d/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/physical/fetch/navigation/2d_unknown/base_local_planner_params.yaml b/resources/config/physical/fetch/navigation/2d_unknown/base_local_planner_params.yaml new file mode 100644 index 0000000..cca0df3 --- /dev/null +++ b/resources/config/physical/fetch/navigation/2d_unknown/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.6 #safe speed for fetch to travel at + min_vel_x: 0 + max_trans_vel: 0.6 + min_trans_vel: 0.1 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 1.5 + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 0.7 + acc_lim_y: 0 #diff drive + acc_limit_trans: 0.7 + acc_lim_theta: 4 + + #forward sim params + sim_time: 1.1 + vx_samples: 5 + vy_samples: 0 #diff drive + vth_samples: 15 + + #scoring params + path_distance_bias: 80 + goal_distance_bias: 60 + occdist_scale: 1.4 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/physical/fetch/navigation/2d_unknown/costmap_common_params.yaml b/resources/config/physical/fetch/navigation/2d_unknown/costmap_common_params.yaml new file mode 100644 index 0000000..9a658c5 --- /dev/null +++ b/resources/config/physical/fetch/navigation/2d_unknown/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /base_scan, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/physical/fetch/navigation/2d_unknown/global_costmap_params.yaml b/resources/config/physical/fetch/navigation/2d_unknown/global_costmap_params.yaml new file mode 100644 index 0000000..411eb66 --- /dev/null +++ b/resources/config/physical/fetch/navigation/2d_unknown/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 0.0 + static_map: false + rolling_window: true + width: 500.0 + height: 500.0 + resolution: 0.1 diff --git a/resources/config/physical/fetch/navigation/2d_unknown/global_planner_params.yaml b/resources/config/physical/fetch/navigation/2d_unknown/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/physical/fetch/navigation/2d_unknown/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/physical/fetch/navigation/2d_unknown/local_costmap_params.yaml b/resources/config/physical/fetch/navigation/2d_unknown/local_costmap_params.yaml new file mode 100644 index 0000000..9dd6de2 --- /dev/null +++ b/resources/config/physical/fetch/navigation/2d_unknown/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/physical/fetch/navigation/3d/base_local_planner_params.yaml b/resources/config/physical/fetch/navigation/3d/base_local_planner_params.yaml new file mode 100644 index 0000000..e5f551e --- /dev/null +++ b/resources/config/physical/fetch/navigation/3d/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.6 #safe speed for fetch to travel at + min_vel_x: 0 + max_trans_vel: 0.6 + min_trans_vel: 0.1 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 1.5 + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 0.7 + acc_lim_y: 0 #diff drive + acc_limit_trans: 0.7 + acc_lim_theta: 4 + + #forward sim params + sim_time: 1.1 + vx_samples: 5 + vy_samples: 0 #diff drive + vth_samples: 15 + + #scoring params + path_distance_bias: 80 + goal_distance_bias: 60 + occdist_scale: 1.4 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true \ No newline at end of file diff --git a/resources/config/physical/fetch/navigation/3d/costmap_common_params.yaml b/resources/config/physical/fetch/navigation/3d/costmap_common_params.yaml new file mode 100644 index 0000000..da76703 --- /dev/null +++ b/resources/config/physical/fetch/navigation/3d/costmap_common_params.yaml @@ -0,0 +1,73 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +3d_obstacles: + enabled: true + voxel_decay: 15 #seconds if linear, e^n if exponential + decay_model: 0 #0=linear, 1=exponential, -1=persistent + voxel_size: 0.05 #meters + track_unknown_space: true #default space is unknown + observation_persistence: 0.0 #seconds + unknown_threshold: 15 #voxel height + mark_threshold: 0 #voxel height + update_footprint_enabled: true + combination_method: 1 #1=max, 0=override + + origin_z: 0.0 #meters + publish_voxel_map: off # default off + transform_tolerance: 0.4 + mapping_mode: false # default off, saves map not for navigation + map_save_duration: 60 #default 60s, how often to autosave + observation_sources: positive_obstacle negative_obstacle + positive_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /head_camera/depth_downsample/points_filtered + marking: true + clearing: true + min_obstacle_height: 0.05 #default 0, meters + #robot config defines max height here + min_z: -0.1 + max_z: 6 + vertical_fov_angle: 0.785398 #default 0.7, radians + horizontal_fov_angle: 0.942478 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + negative_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /head_camera/depth_downsample/points_filtered + marking: true + clearing: false + min_obstacle_height: -5 #default 0, meters + max_obstacle_height: -0.2 + min_z: -6 + max_z: 0.1 + vertical_fov_angle: 0.785398 #default 0.7, radians + horizontal_fov_angle: 0.942478 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /base_scan, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/physical/fetch/navigation/3d/global_costmap_params.yaml b/resources/config/physical/fetch/navigation/3d/global_costmap_params.yaml new file mode 100644 index 0000000..c6c5ff5 --- /dev/null +++ b/resources/config/physical/fetch/navigation/3d/global_costmap_params.yaml @@ -0,0 +1,19 @@ +global_costmap: + plugins: + - {name: static_map_3d_negative, type: "costmap_2d::StaticLayer"} + - {name: static_map_3d_positive, type: "costmap_2d::StaticLayer"} + - {name: static_map_2d, type: "costmap_2d::StaticLayer"} + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 0.5 + static_map_2d: + map_topic: /map + static_map_3d_positive: + map_topic: /projected_map + static_map_3d_negative: + map_topic: /projected_map_negative + diff --git a/resources/config/physical/fetch/navigation/3d/global_planner_params.yaml b/resources/config/physical/fetch/navigation/3d/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/physical/fetch/navigation/3d/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/physical/fetch/navigation/3d/local_costmap_params.yaml b/resources/config/physical/fetch/navigation/3d/local_costmap_params.yaml new file mode 100644 index 0000000..83896b2 --- /dev/null +++ b/resources/config/physical/fetch/navigation/3d/local_costmap_params.yaml @@ -0,0 +1,13 @@ +local_costmap: + plugins: + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/physical/fetch/navigation/3d_unknown/base_local_planner_params.yaml b/resources/config/physical/fetch/navigation/3d_unknown/base_local_planner_params.yaml new file mode 100644 index 0000000..e5f551e --- /dev/null +++ b/resources/config/physical/fetch/navigation/3d_unknown/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.6 #safe speed for fetch to travel at + min_vel_x: 0 + max_trans_vel: 0.6 + min_trans_vel: 0.1 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 1.5 + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 0.7 + acc_lim_y: 0 #diff drive + acc_limit_trans: 0.7 + acc_lim_theta: 4 + + #forward sim params + sim_time: 1.1 + vx_samples: 5 + vy_samples: 0 #diff drive + vth_samples: 15 + + #scoring params + path_distance_bias: 80 + goal_distance_bias: 60 + occdist_scale: 1.4 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true \ No newline at end of file diff --git a/resources/config/physical/fetch/navigation/3d_unknown/costmap_common_params.yaml b/resources/config/physical/fetch/navigation/3d_unknown/costmap_common_params.yaml new file mode 100644 index 0000000..2ed5082 --- /dev/null +++ b/resources/config/physical/fetch/navigation/3d_unknown/costmap_common_params.yaml @@ -0,0 +1,73 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +3d_obstacles: + enabled: true + voxel_decay: 15 #seconds if linear, e^n if exponential + decay_model: 0 #0=linear, 1=exponential, -1=persistent + voxel_size: 0.05 #meters + track_unknown_space: true #default space is unknown + observation_persistence: 0.0 #seconds + unknown_threshold: 15 #voxel height + mark_threshold: 0 #voxel height + update_footprint_enabled: true + combination_method: 1 #1=max, 0=override + + origin_z: 0.0 #meters + publish_voxel_map: true # default off + transform_tolerance: 0.4 + mapping_mode: false # default off, saves map not for navigation + map_save_duration: 60 #default 60s, how often to autosave + observation_sources: positive_obstacle negative_obstacle + positive_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /head_camera/depth_downsample/points_filtered + marking: true + clearing: true + min_obstacle_height: 0.05 #default 0, meters + #robot config defines max height here + min_z: -0.1 + max_z: 6 + vertical_fov_angle: 0.7 #default 0.7, radians + horizontal_fov_angle: 1.04 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + negative_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /head_camera/depth_downsample/points_filtered + marking: true + clearing: false + min_obstacle_height: -5 #default 0, meters + max_obstacle_height: -0.2 + min_z: -6 + max_z: 0.1 + vertical_fov_angle: 0.785398 #default 0.7, radians + horizontal_fov_angle: 0.942478 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /base_scan, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/physical/fetch/navigation/3d_unknown/global_costmap_params.yaml b/resources/config/physical/fetch/navigation/3d_unknown/global_costmap_params.yaml new file mode 100644 index 0000000..c0ffab0 --- /dev/null +++ b/resources/config/physical/fetch/navigation/3d_unknown/global_costmap_params.yaml @@ -0,0 +1,15 @@ +global_costmap: + plugins: + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 0.0 + static_map: false + rolling_window: true + width: 500.0 + height: 500.0 + resolution: 0.1 + diff --git a/resources/config/physical/fetch/navigation/3d_unknown/global_planner_params.yaml b/resources/config/physical/fetch/navigation/3d_unknown/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/physical/fetch/navigation/3d_unknown/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/physical/fetch/navigation/3d_unknown/local_costmap_params.yaml b/resources/config/physical/fetch/navigation/3d_unknown/local_costmap_params.yaml new file mode 100644 index 0000000..83896b2 --- /dev/null +++ b/resources/config/physical/fetch/navigation/3d_unknown/local_costmap_params.yaml @@ -0,0 +1,13 @@ +local_costmap: + plugins: + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/physical/fetch/navigation/original/base_local_planner_params.yaml b/resources/config/physical/fetch/navigation/original/base_local_planner_params.yaml new file mode 100644 index 0000000..6edd6a6 --- /dev/null +++ b/resources/config/physical/fetch/navigation/original/base_local_planner_params.yaml @@ -0,0 +1,17 @@ +base_local_planner: base_local_planner/TrajectoryPlannerROS +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/physical/fetch/navigation/original/costmap_common_params.yaml b/resources/config/physical/fetch/navigation/original/costmap_common_params.yaml new file mode 100644 index 0000000..6753c97 --- /dev/null +++ b/resources/config/physical/fetch/navigation/original/costmap_common_params.yaml @@ -0,0 +1,18 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, sensor_frame: pioneer/hokuyo_front_link, topic: /pioneer/frontscan_filtered, marking: true, clearing: true, expected_update_rate: 0.2} diff --git a/resources/config/physical/fetch/navigation/original/global_costmap_params.yaml b/resources/config/physical/fetch/navigation/original/global_costmap_params.yaml new file mode 100644 index 0000000..0fc5e23 --- /dev/null +++ b/resources/config/physical/fetch/navigation/original/global_costmap_params.yaml @@ -0,0 +1,11 @@ +global_costmap: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: + map_topic: /map diff --git a/resources/config/physical/fetch/navigation/original/global_planner_params.yaml b/resources/config/physical/fetch/navigation/original/global_planner_params.yaml new file mode 100644 index 0000000..2633750 --- /dev/null +++ b/resources/config/physical/fetch/navigation/original/global_planner_params.yaml @@ -0,0 +1,9 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + cost_factor: 0.55 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: true + default_tolerance: 0.2 \ No newline at end of file diff --git a/resources/config/physical/fetch/navigation/original/local_costmap_params.yaml b/resources/config/physical/fetch/navigation/original/local_costmap_params.yaml new file mode 100644 index 0000000..cf0b822 --- /dev/null +++ b/resources/config/physical/fetch/navigation/original/local_costmap_params.yaml @@ -0,0 +1,13 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: pioneer/odom + robot_base_frame: pioneer/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/physical/fetch/pc_to_laser_config.yaml b/resources/config/physical/fetch/pc_to_laser_config.yaml new file mode 100644 index 0000000..ddad1eb --- /dev/null +++ b/resources/config/physical/fetch/pc_to_laser_config.yaml @@ -0,0 +1,9 @@ +#Physical parameters for the kinect +angle_min: -0.4974188 +angle_max: 0.4974188 +angle_increment: 0.00349066 +range_min: 0.6 +range_max: 4 +min_height: 0 +max_height: 1 +scan_time: 0.066666667 \ No newline at end of file diff --git a/resources/config/physical/fetch/robot_dimensions.yaml b/resources/config/physical/fetch/robot_dimensions.yaml new file mode 100644 index 0000000..74c9a18 --- /dev/null +++ b/resources/config/physical/fetch/robot_dimensions.yaml @@ -0,0 +1,2 @@ +#Define some dimensions of the robot for filtering octomaps +occupancy_max_z: 1.5 # meters diff --git a/resources/config/physical/mir/config.rviz b/resources/config/physical/mir/config.rviz new file mode 100644 index 0000000..1b789bb --- /dev/null +++ b/resources/config/physical/mir/config.rviz @@ -0,0 +1,523 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Local Costmap1/Position1 + - /LaserScan1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map (map_server) + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Map (octomap) + Topic: /projected_map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: false + Name: Map (negative_octomap) + Topic: /projected_map_negative + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.5 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.300000012 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Angle Tolerance: 0.100000001 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 50 + Name: Odometry + Position Tolerance: 0.100000001 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Color: 255; 25; 0 + Head Length: 0.300000012 + Head Radius: 0.100000001 + Shaft Length: 0.25 + Shaft Radius: 0.0500000007 + Value: Arrow + Topic: /mobile_base_controller/odom + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Pose CurrentGoal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /move_base/current_goal + Unreliable: false + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Global Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/GlobalPlanner/plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 42; 5; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Scope Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Local Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Robot Footprint + Topic: /move_base/global_costmap/footprint + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + surface: + Alpha: 1 + Show Axes: false + Show Trail: false + us_1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + us_2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: mir/robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 8.14708233 + Min Value: -0.663921654 + Value: true + Axis: X + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: 8.40779079e-45 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0500000007 + Style: Spheres + Topic: /scan_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /head_camera/depth_downsample/points_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: octomap_rviz_plugin/OccupancyGrid + Enabled: false + Max. Height Display: 3.40282347e+38 + Max. Octree Depth: 16 + Min. Height Display: -3.40282347e+38 + Name: Octomap + Octomap Topic: /octomap_binary + Queue Size: 5 + Value: false + Voxel Alpha: 1 + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: amcl/initialpose + - Class: rviz/SetGoal + Topic: move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 18.3799992 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 1.20979714 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 3.21354604 + Saved: + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Top Down + Near Clip Distance: 0.00999999978 + Scale: 20 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/ThirdPersonFollower + Distance: 7.52257919 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Follower + Near Clip Distance: 0.00999999978 + Pitch: 0.490398467 + Target Frame: pioneer/base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.18539834 + - Class: rviz/XYOrbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Orbit + Near Clip Distance: 0.00999999978 + Pitch: 0.595398366 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 4.12540293 +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df000002af000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1855 + X: 65 + Y: 24 diff --git a/resources/config/physical/mir/costmap_height.yaml b/resources/config/physical/mir/costmap_height.yaml new file mode 100644 index 0000000..238f3e3 --- /dev/null +++ b/resources/config/physical/mir/costmap_height.yaml @@ -0,0 +1,3 @@ +3d_obstacles: + positive_obstacle: + max_obstacle_height: 1.5 \ No newline at end of file diff --git a/resources/config/physical/mir/diffdrive_controller.yaml b/resources/config/physical/mir/diffdrive_controller.yaml new file mode 100644 index 0000000..098975b --- /dev/null +++ b/resources/config/physical/mir/diffdrive_controller.yaml @@ -0,0 +1,42 @@ +# ----------------------------------- +mobile_base_controller: + type : "diff_drive_controller/DiffDriveController" + left_wheel : '$(arg prefix)left_wheel_joint' + right_wheel : '$(arg prefix)right_wheel_joint' + publish_rate: 41.2 # this is what the real MiR platform publishes (default: 50) + # These covariances are exactly what the real MiR platform publishes + pose_covariance_diagonal : [0.00001, 0.00001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + twist_covariance_diagonal: [0.1, 0.1, 1000000.0, 1000000.0, 1000000.0, 1000.0] + enable_odom_tf: true + + # Wheel separation and diameter. These are both optional. + # diff_drive_controller will attempt to read either one or both from the + # URDF if not specified as a parameter + wheel_separation : 0.445208 + wheel_radius : 0.0625 + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 0.5 + + # frame_ids (same as real MiR platform) + base_frame_id: $(arg prefix)base_footprint # default: base_link + odom_frame_id: $(arg prefix)odom # default: odom + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : true + max_velocity : 1.0 # m/s; move_base max_vel_x: 0.8 + has_acceleration_limits: true + max_acceleration : 2.0 # m/s^2; move_base acc_lim_x: 1.5 + angular: + z: + has_velocity_limits : true + max_velocity : 1.5 # rad/s; move_base max_rot_vel: 1.0 + has_acceleration_limits: true + max_acceleration : 2.5 # rad/s^2; move_base acc_lim_th: 2.0 diff --git a/resources/config/physical/mir/joint_state_controller.yaml b/resources/config/physical/mir/joint_state_controller.yaml new file mode 100644 index 0000000..2487d71 --- /dev/null +++ b/resources/config/physical/mir/joint_state_controller.yaml @@ -0,0 +1,4 @@ +# Publish all joint states ----------------------------------- +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 diff --git a/resources/config/physical/mir/laserfilter_config.yaml b/resources/config/physical/mir/laserfilter_config.yaml new file mode 100644 index 0000000..6cbfd20 --- /dev/null +++ b/resources/config/physical/mir/laserfilter_config.yaml @@ -0,0 +1,10 @@ +# http://wiki.ros.org/laser_filters#LaserScanRangeFilter +scan_filter_chain: +- name: range + type: laser_filters/LaserScanRangeFilter + params: + use_message_range_limits: false + lower_threshold: 0.1 + upper_threshold: .inf + lower_replacement_value: 0.1 + upper_replacement_value: 10.0 diff --git a/resources/config/physical/mir/navigation/2d/base_local_planner_params.yaml b/resources/config/physical/mir/navigation/2d/base_local_planner_params.yaml new file mode 100644 index 0000000..cca0df3 --- /dev/null +++ b/resources/config/physical/mir/navigation/2d/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.6 #safe speed for fetch to travel at + min_vel_x: 0 + max_trans_vel: 0.6 + min_trans_vel: 0.1 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 1.5 + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 0.7 + acc_lim_y: 0 #diff drive + acc_limit_trans: 0.7 + acc_lim_theta: 4 + + #forward sim params + sim_time: 1.1 + vx_samples: 5 + vy_samples: 0 #diff drive + vth_samples: 15 + + #scoring params + path_distance_bias: 80 + goal_distance_bias: 60 + occdist_scale: 1.4 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/physical/mir/navigation/2d/costmap_common_params.yaml b/resources/config/physical/mir/navigation/2d/costmap_common_params.yaml new file mode 100644 index 0000000..93fdcfb --- /dev/null +++ b/resources/config/physical/mir/navigation/2d/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /scan_filtered, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/physical/mir/navigation/2d/global_costmap_params.yaml b/resources/config/physical/mir/navigation/2d/global_costmap_params.yaml new file mode 100644 index 0000000..ca15b85 --- /dev/null +++ b/resources/config/physical/mir/navigation/2d/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 0.5 + static_map: + map_topic: /map + + diff --git a/resources/config/physical/mir/navigation/2d/global_planner_params.yaml b/resources/config/physical/mir/navigation/2d/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/physical/mir/navigation/2d/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/physical/mir/navigation/2d/local_costmap_params.yaml b/resources/config/physical/mir/navigation/2d/local_costmap_params.yaml new file mode 100644 index 0000000..9dd6de2 --- /dev/null +++ b/resources/config/physical/mir/navigation/2d/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/physical/mir/navigation/2d_unknown/base_local_planner_params.yaml b/resources/config/physical/mir/navigation/2d_unknown/base_local_planner_params.yaml new file mode 100644 index 0000000..cca0df3 --- /dev/null +++ b/resources/config/physical/mir/navigation/2d_unknown/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.6 #safe speed for fetch to travel at + min_vel_x: 0 + max_trans_vel: 0.6 + min_trans_vel: 0.1 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 1.5 + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 0.7 + acc_lim_y: 0 #diff drive + acc_limit_trans: 0.7 + acc_lim_theta: 4 + + #forward sim params + sim_time: 1.1 + vx_samples: 5 + vy_samples: 0 #diff drive + vth_samples: 15 + + #scoring params + path_distance_bias: 80 + goal_distance_bias: 60 + occdist_scale: 1.4 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/physical/mir/navigation/2d_unknown/costmap_common_params.yaml b/resources/config/physical/mir/navigation/2d_unknown/costmap_common_params.yaml new file mode 100644 index 0000000..93fdcfb --- /dev/null +++ b/resources/config/physical/mir/navigation/2d_unknown/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /scan_filtered, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/physical/mir/navigation/2d_unknown/global_costmap_params.yaml b/resources/config/physical/mir/navigation/2d_unknown/global_costmap_params.yaml new file mode 100644 index 0000000..411eb66 --- /dev/null +++ b/resources/config/physical/mir/navigation/2d_unknown/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 0.0 + static_map: false + rolling_window: true + width: 500.0 + height: 500.0 + resolution: 0.1 diff --git a/resources/config/physical/mir/navigation/2d_unknown/global_planner_params.yaml b/resources/config/physical/mir/navigation/2d_unknown/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/physical/mir/navigation/2d_unknown/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/physical/mir/navigation/2d_unknown/local_costmap_params.yaml b/resources/config/physical/mir/navigation/2d_unknown/local_costmap_params.yaml new file mode 100644 index 0000000..9dd6de2 --- /dev/null +++ b/resources/config/physical/mir/navigation/2d_unknown/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/physical/mir/navigation/original/base_local_planner_params.yaml b/resources/config/physical/mir/navigation/original/base_local_planner_params.yaml new file mode 100644 index 0000000..6edd6a6 --- /dev/null +++ b/resources/config/physical/mir/navigation/original/base_local_planner_params.yaml @@ -0,0 +1,17 @@ +base_local_planner: base_local_planner/TrajectoryPlannerROS +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/physical/mir/navigation/original/costmap_common_params.yaml b/resources/config/physical/mir/navigation/original/costmap_common_params.yaml new file mode 100644 index 0000000..6753c97 --- /dev/null +++ b/resources/config/physical/mir/navigation/original/costmap_common_params.yaml @@ -0,0 +1,18 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, sensor_frame: pioneer/hokuyo_front_link, topic: /pioneer/frontscan_filtered, marking: true, clearing: true, expected_update_rate: 0.2} diff --git a/resources/config/physical/mir/navigation/original/global_costmap_params.yaml b/resources/config/physical/mir/navigation/original/global_costmap_params.yaml new file mode 100644 index 0000000..0fc5e23 --- /dev/null +++ b/resources/config/physical/mir/navigation/original/global_costmap_params.yaml @@ -0,0 +1,11 @@ +global_costmap: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: + map_topic: /map diff --git a/resources/config/physical/mir/navigation/original/global_planner_params.yaml b/resources/config/physical/mir/navigation/original/global_planner_params.yaml new file mode 100644 index 0000000..2633750 --- /dev/null +++ b/resources/config/physical/mir/navigation/original/global_planner_params.yaml @@ -0,0 +1,9 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + cost_factor: 0.55 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: true + default_tolerance: 0.2 \ No newline at end of file diff --git a/resources/config/physical/mir/navigation/original/local_costmap_params.yaml b/resources/config/physical/mir/navigation/original/local_costmap_params.yaml new file mode 100644 index 0000000..cf0b822 --- /dev/null +++ b/resources/config/physical/mir/navigation/original/local_costmap_params.yaml @@ -0,0 +1,13 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: pioneer/odom + robot_base_frame: pioneer/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/physical/mir/pc_to_laser_config.yaml b/resources/config/physical/mir/pc_to_laser_config.yaml new file mode 100644 index 0000000..ddad1eb --- /dev/null +++ b/resources/config/physical/mir/pc_to_laser_config.yaml @@ -0,0 +1,9 @@ +#Physical parameters for the kinect +angle_min: -0.4974188 +angle_max: 0.4974188 +angle_increment: 0.00349066 +range_min: 0.6 +range_max: 4 +min_height: 0 +max_height: 1 +scan_time: 0.066666667 \ No newline at end of file diff --git a/resources/config/physical/mir/robot_dimensions.yaml b/resources/config/physical/mir/robot_dimensions.yaml new file mode 100644 index 0000000..74c9a18 --- /dev/null +++ b/resources/config/physical/mir/robot_dimensions.yaml @@ -0,0 +1,2 @@ +#Define some dimensions of the robot for filtering octomaps +occupancy_max_z: 1.5 # meters diff --git a/resources/config/physical/obsbot_mbf/base_local_planner_params.yaml b/resources/config/physical/obsbot_mbf/base_local_planner_params.yaml new file mode 100644 index 0000000..0c2eff7 --- /dev/null +++ b/resources/config/physical/obsbot_mbf/base_local_planner_params.yaml @@ -0,0 +1,20 @@ +controllers: + - name: 'TrajectoryPlannerROS' + type: 'base_local_planner/TrajectoryPlannerROS' + +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/physical/obsbot_mbf/controllers.yaml b/resources/config/physical/obsbot_mbf/controllers.yaml new file mode 100644 index 0000000..3737dcf --- /dev/null +++ b/resources/config/physical/obsbot_mbf/controllers.yaml @@ -0,0 +1,20 @@ +controllers: + - name: 'TrajectoryPlannerROS' + type: 'base_local_planner/TrajectoryPlannerROS' + +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/physical/obsbot_mbf/costmap_common_params.yaml b/resources/config/physical/obsbot_mbf/costmap_common_params.yaml new file mode 100644 index 0000000..90af40b --- /dev/null +++ b/resources/config/physical/obsbot_mbf/costmap_common_params.yaml @@ -0,0 +1,20 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: obs_bot/scan_link, data_type: LaserScan, topic: /obs_bot/scan, marking: true, clearing: true, expected_update_rate: 0.2} + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/physical/obsbot_mbf/global_costmap_params.yaml b/resources/config/physical/obsbot_mbf/global_costmap_params.yaml new file mode 100644 index 0000000..3e7351c --- /dev/null +++ b/resources/config/physical/obsbot_mbf/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: obs_bot/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/physical/obsbot_mbf/local_costmap_params.yaml b/resources/config/physical/obsbot_mbf/local_costmap_params.yaml new file mode 100644 index 0000000..51a948d --- /dev/null +++ b/resources/config/physical/obsbot_mbf/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: obs_bot/odom + robot_base_frame: obs_bot/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/physical/obsbot_mbf/planners.yaml b/resources/config/physical/obsbot_mbf/planners.yaml new file mode 100644 index 0000000..3086ab9 --- /dev/null +++ b/resources/config/physical/obsbot_mbf/planners.yaml @@ -0,0 +1,16 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 + diff --git a/resources/config/physical/obsbot_mbf/recovery_behaviors.yaml b/resources/config/physical/obsbot_mbf/recovery_behaviors.yaml new file mode 100644 index 0000000..99e917a --- /dev/null +++ b/resources/config/physical/obsbot_mbf/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' +# - name: 'moveback_recovery' +# type: 'moveback_recovery/MoveBackRecovery' + +# moveback_recovery: +# linear_vel_back: -0.1 # default -0.3 +# step_back_length: 0.3 # default 1.0 +# step_back_timeout: 5.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/physical/obstacle_bot/config.rviz b/resources/config/physical/obstacle_bot/config.rviz new file mode 100644 index 0000000..8b118ed --- /dev/null +++ b/resources/config/physical/obstacle_bot/config.rviz @@ -0,0 +1,511 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Local Costmap1/Position1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map (map_server) + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Map (octomap) + Topic: /projected_map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: false + Name: Map (negative_octomap) + Topic: /projected_map_negative + Unreliable: false + Use Timestamp: false + Value: false + - Class: octomap_rviz_plugin/OccupancyGrid + Enabled: true + Max. Height Display: 3.40282347e+38 + Max. Octree Depth: 16 + Min. Height Display: -3.40282347e+38 + Name: Octomap + Octomap Topic: /octomap_binary + Queue Size: 5 + Value: true + Voxel Alpha: 1 + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + - Alpha: 0.5 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Global Costmap + Topic: /pioneer/move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.300000012 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: false + Name: Local Costmap + Topic: /pioneer/move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: false + - Angle Tolerance: 0.100000001 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: false + Keep: 50 + Name: Odometry + Position Tolerance: 0.100000001 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Color: 255; 25; 0 + Head Length: 0.300000012 + Head Radius: 0.100000001 + Shaft Length: 0.25 + Shaft Radius: 0.0500000007 + Value: Arrow + Topic: odom + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: false + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Pose CurrentGoal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /move_base/current_goal + Unreliable: false + Value: false + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: false + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Global Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/GlobalPlanner/plan + Unreliable: false + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 42; 5; 255 + Enabled: false + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Scope Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 255 + Enabled: false + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Local Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Robot Footprint + Topic: /move_base/local_costmap/footprint + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_sonar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_sonar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hokuyo_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kinect_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kinect_sensor_link: + Alpha: 1 + Show Axes: false + Show Trail: false + kinect_stand_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_left_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_right_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + swivel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top_plate: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + weight_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: pioneer/robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 8.14708233 + Min Value: -0.663921654 + Value: true + Axis: X + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: 8.40779079e-45 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0500000007 + Style: Spheres + Topic: /frontscan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /kinect/depth/points_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: amcl/initialpose + - Class: rviz/SetGoal + Topic: move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/ThirdPersonFollower + Distance: 11.0552902 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.0145996809 + Y: -1.06108999 + Z: 1.91491881e-06 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 1.03479707 + Target Frame: pioneer/base_link + Value: ThirdPersonFollower (rviz) + Yaw: 4.7303462 + Saved: + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Top Down + Near Clip Distance: 0.00999999978 + Scale: 20 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/ThirdPersonFollower + Distance: 7.52257919 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Follower + Near Clip Distance: 0.00999999978 + Pitch: 0.490398467 + Target Frame: pioneer/base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.18539834 + - Class: rviz/XYOrbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Orbit + Near Clip Distance: 0.00999999978 + Pitch: 0.595398366 + Target Frame: pioneer/base_link + Value: XYOrbit (rviz) + Yaw: 4.12540293 +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1855 + X: 65 + Y: 24 diff --git a/resources/config/physical/obstacle_bot/costmap_height.yaml b/resources/config/physical/obstacle_bot/costmap_height.yaml new file mode 100644 index 0000000..c7f0b55 --- /dev/null +++ b/resources/config/physical/obstacle_bot/costmap_height.yaml @@ -0,0 +1,2 @@ +3d_obstacles: + max_obstacle_height: 0.4 #meters \ No newline at end of file diff --git a/resources/config/physical/obstacle_bot/frontlaser_config.yaml b/resources/config/physical/obstacle_bot/frontlaser_config.yaml new file mode 100644 index 0000000..8317c7f --- /dev/null +++ b/resources/config/physical/obstacle_bot/frontlaser_config.yaml @@ -0,0 +1,16 @@ +# Descriptor also modifies the published laser topic. +descriptor: "front" +enabled: true +visualize: true + +#Sensor Positioning: +x: 0.13 # Meters +y: 0.0 # Meters +z: 0.275 # Meters +yaw: 0.0 # Radians + +# Sensor Settings +min_angle: -2.26889 # Radians +max_angle: 2.26889 # Radians +ray_count: 240 +range: 10.0 # Meters diff --git a/resources/config/physical/obstacle_bot/kinect_config.yaml b/resources/config/physical/obstacle_bot/kinect_config.yaml new file mode 100644 index 0000000..1039870 --- /dev/null +++ b/resources/config/physical/obstacle_bot/kinect_config.yaml @@ -0,0 +1,13 @@ +# Descriptor modifies the names of the published topics +descriptor: "kinect" +enabled: true # Try setting true + +#Sensor Positioning: +x: 0.06 # Meters +y: 0.0 # Meters +height: 0.35 # Meters +pan: 0.0 # Radians +tilt: 0.2 # Radians + +#Sensor Settings: +far_clip: 5.0 # Meters diff --git a/resources/config/physical/obstacle_bot/laserfilter_config.yaml b/resources/config/physical/obstacle_bot/laserfilter_config.yaml new file mode 100644 index 0000000..6cbfd20 --- /dev/null +++ b/resources/config/physical/obstacle_bot/laserfilter_config.yaml @@ -0,0 +1,10 @@ +# http://wiki.ros.org/laser_filters#LaserScanRangeFilter +scan_filter_chain: +- name: range + type: laser_filters/LaserScanRangeFilter + params: + use_message_range_limits: false + lower_threshold: 0.1 + upper_threshold: .inf + lower_replacement_value: 0.1 + upper_replacement_value: 10.0 diff --git a/resources/config/physical/obstacle_bot/navigation/2d/base_local_planner_params.yaml b/resources/config/physical/obstacle_bot/navigation/2d/base_local_planner_params.yaml new file mode 100644 index 0000000..4f70f93 --- /dev/null +++ b/resources/config/physical/obstacle_bot/navigation/2d/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/physical/obstacle_bot/navigation/2d/controllers.yaml b/resources/config/physical/obstacle_bot/navigation/2d/controllers.yaml new file mode 100644 index 0000000..1a42b4e --- /dev/null +++ b/resources/config/physical/obstacle_bot/navigation/2d/controllers.yaml @@ -0,0 +1,81 @@ +controllers: + - name: 'DWAPlannerROS' + type: 'dwa_local_planner/DWAPlannerROS' + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/physical/obstacle_bot/navigation/2d/costmap_common_params.yaml b/resources/config/physical/obstacle_bot/navigation/2d/costmap_common_params.yaml new file mode 100644 index 0000000..2370cbb --- /dev/null +++ b/resources/config/physical/obstacle_bot/navigation/2d/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /obstacle_bot/scan, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/physical/obstacle_bot/navigation/2d/global_costmap_params.yaml b/resources/config/physical/obstacle_bot/navigation/2d/global_costmap_params.yaml new file mode 100644 index 0000000..ad1bd76 --- /dev/null +++ b/resources/config/physical/obstacle_bot/navigation/2d/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: obstacle_bot_base_footprint + update_frequency: 10.0 + publish_frequency: 0.5 + static_map: + map_topic: /map + + diff --git a/resources/config/physical/obstacle_bot/navigation/2d/global_planner_params.yaml b/resources/config/physical/obstacle_bot/navigation/2d/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/physical/obstacle_bot/navigation/2d/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/physical/obstacle_bot/navigation/2d/local_costmap_params.yaml b/resources/config/physical/obstacle_bot/navigation/2d/local_costmap_params.yaml new file mode 100644 index 0000000..53f636f --- /dev/null +++ b/resources/config/physical/obstacle_bot/navigation/2d/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: obstacle_bot_odom + robot_base_frame: obstacle_bot_base_footprint + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/physical/obstacle_bot/navigation/2d/planners.yaml b/resources/config/physical/obstacle_bot/navigation/2d/planners.yaml new file mode 100644 index 0000000..55a8eaa --- /dev/null +++ b/resources/config/physical/obstacle_bot/navigation/2d/planners.yaml @@ -0,0 +1,29 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' + - name: 'SBPLLatticePlanner' + type: 'SBPLLatticePlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 +SBPLLatticePlanner: + planner_type: 'ARAPlanner' + allocated_time: 20.0 # default: 10.0 + initial_epsilon: 3.0 + environment_type: 'XYThetaLattice' # The only environment supported + forward_search: true # default is false + # NOTE: param 'primitive_filename'. This needs to be set to the path to 'ceres_navigation/mprim/ceres_5cm.mprim' + # You may put it in the mprim.yaml file, which is ignored by git, so everybody can setup his own path. + nominalvel_mpersecs: 0.7 + timetoturn45degsinplace_secs: 0.6 + lethal_obstacle: 250 + diff --git a/resources/config/physical/obstacle_bot/navigation/2d/recovery_behaviors.yaml b/resources/config/physical/obstacle_bot/navigation/2d/recovery_behaviors.yaml new file mode 100644 index 0000000..81e8114 --- /dev/null +++ b/resources/config/physical/obstacle_bot/navigation/2d/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'moveback_recovery' + type: 'moveback_recovery/MoveBackRecovery' + +moveback_recovery: + linear_vel_back: -0.1 # default -0.3 + step_back_length: 0.3 # default 1.0 + step_back_timeout: 5.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/physical/obstacle_bot/pc_to_laser_config.yaml b/resources/config/physical/obstacle_bot/pc_to_laser_config.yaml new file mode 100644 index 0000000..ddad1eb --- /dev/null +++ b/resources/config/physical/obstacle_bot/pc_to_laser_config.yaml @@ -0,0 +1,9 @@ +#Physical parameters for the kinect +angle_min: -0.4974188 +angle_max: 0.4974188 +angle_increment: 0.00349066 +range_min: 0.6 +range_max: 4 +min_height: 0 +max_height: 1 +scan_time: 0.066666667 \ No newline at end of file diff --git a/resources/config/physical/obstacle_bot/rearlaser_config.yaml b/resources/config/physical/obstacle_bot/rearlaser_config.yaml new file mode 100644 index 0000000..c5c5ea4 --- /dev/null +++ b/resources/config/physical/obstacle_bot/rearlaser_config.yaml @@ -0,0 +1,16 @@ +# Descriptor also modifies the published laser topic. +descriptor: "rear" +enabled: false # Try setting true +visualize: true + +#Sensor Positioning: +x: -0.23 # Meters +y: 0.0 # Meters +z: 0.275 # Meters +yaw: 3.14 # Radians + +# Sensor Settings +min_angle: -2.26889 # Radians +max_angle: 2.26889 # Radians +ray_count: 240 +range: 10.0 # Meters diff --git a/resources/config/physical/obstacle_bot/robot_dimensions.yaml b/resources/config/physical/obstacle_bot/robot_dimensions.yaml new file mode 100644 index 0000000..d896a45 --- /dev/null +++ b/resources/config/physical/obstacle_bot/robot_dimensions.yaml @@ -0,0 +1,2 @@ +#Define some dimensions of the robot for filtering octomaps +occupancy_max_z: 0.4 # meters diff --git a/resources/config/physical/pioneer/config.rviz b/resources/config/physical/pioneer/config.rviz new file mode 100644 index 0000000..d37b886 --- /dev/null +++ b/resources/config/physical/pioneer/config.rviz @@ -0,0 +1,511 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Local Costmap1/Position1 + Splitter Ratio: 0.5 + Tree Height: 747 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map (map_server) + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Map (octomap) + Topic: /projected_map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: false + Name: Map (negative_octomap) + Topic: /projected_map_negative + Unreliable: false + Use Timestamp: false + Value: false + - Class: octomap_rviz_plugin/OccupancyGrid + Enabled: false + Max. Height Display: 3.40282347e+38 + Max. Octree Depth: 16 + Min. Height Display: -3.40282347e+38 + Name: Octomap + Octomap Topic: /octomap_binary + Queue Size: 5 + Value: false + Voxel Alpha: 1 + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + - Alpha: 0.5 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.300000012 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Angle Tolerance: 0.100000001 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 50 + Name: Odometry + Position Tolerance: 0.100000001 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Color: 255; 25; 0 + Head Length: 0.300000012 + Head Radius: 0.100000001 + Shaft Length: 0.25 + Shaft Radius: 0.0500000007 + Value: Arrow + Topic: odom + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: false + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Pose CurrentGoal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /move_base/current_goal + Unreliable: false + Value: false + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Global Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/GlobalPlanner/plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 42; 5; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Scope Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Local Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Robot Footprint + Topic: /move_base/local_costmap/footprint + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_sonar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_sonar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hokuyo_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kinect_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kinect_sensor_link: + Alpha: 1 + Show Axes: false + Show Trail: false + kinect_stand_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_left_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_right_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + swivel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top_plate: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + weight_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: pioneer/robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 8.14708233 + Min Value: -0.663921654 + Value: true + Axis: X + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: 8.40779079e-45 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0500000007 + Style: Spheres + Topic: /frontscan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /kinect/depth/points_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: amcl/initialpose + - Class: rviz/SetGoal + Topic: move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/ThirdPersonFollower + Distance: 5.27731943 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.345398545 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.14040804 + Saved: + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Top Down + Near Clip Distance: 0.00999999978 + Scale: 20 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/ThirdPersonFollower + Distance: 7.52257919 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Follower + Near Clip Distance: 0.00999999978 + Pitch: 0.490398467 + Target Frame: pioneer/base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.18539834 + - Class: rviz/XYOrbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Orbit + Near Clip Distance: 0.00999999978 + Pitch: 0.595398366 + Target Frame: pioneer/base_link + Value: XYOrbit (rviz) + Yaw: 4.12540293 +Window Geometry: + Displays: + collapsed: true + Height: 1028 + Hide Left Dock: true + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 928 + X: 992 + Y: 24 diff --git a/resources/config/physical/pioneer/costmap_height.yaml b/resources/config/physical/pioneer/costmap_height.yaml new file mode 100644 index 0000000..c7f0b55 --- /dev/null +++ b/resources/config/physical/pioneer/costmap_height.yaml @@ -0,0 +1,2 @@ +3d_obstacles: + max_obstacle_height: 0.4 #meters \ No newline at end of file diff --git a/resources/config/physical/pioneer/frontlaser_config.yaml b/resources/config/physical/pioneer/frontlaser_config.yaml new file mode 100644 index 0000000..8317c7f --- /dev/null +++ b/resources/config/physical/pioneer/frontlaser_config.yaml @@ -0,0 +1,16 @@ +# Descriptor also modifies the published laser topic. +descriptor: "front" +enabled: true +visualize: true + +#Sensor Positioning: +x: 0.13 # Meters +y: 0.0 # Meters +z: 0.275 # Meters +yaw: 0.0 # Radians + +# Sensor Settings +min_angle: -2.26889 # Radians +max_angle: 2.26889 # Radians +ray_count: 240 +range: 10.0 # Meters diff --git a/resources/config/physical/pioneer/kinect_config.yaml b/resources/config/physical/pioneer/kinect_config.yaml new file mode 100644 index 0000000..1039870 --- /dev/null +++ b/resources/config/physical/pioneer/kinect_config.yaml @@ -0,0 +1,13 @@ +# Descriptor modifies the names of the published topics +descriptor: "kinect" +enabled: true # Try setting true + +#Sensor Positioning: +x: 0.06 # Meters +y: 0.0 # Meters +height: 0.35 # Meters +pan: 0.0 # Radians +tilt: 0.2 # Radians + +#Sensor Settings: +far_clip: 5.0 # Meters diff --git a/resources/config/physical/pioneer/laserfilter_config.yaml b/resources/config/physical/pioneer/laserfilter_config.yaml new file mode 100644 index 0000000..6cbfd20 --- /dev/null +++ b/resources/config/physical/pioneer/laserfilter_config.yaml @@ -0,0 +1,10 @@ +# http://wiki.ros.org/laser_filters#LaserScanRangeFilter +scan_filter_chain: +- name: range + type: laser_filters/LaserScanRangeFilter + params: + use_message_range_limits: false + lower_threshold: 0.1 + upper_threshold: .inf + lower_replacement_value: 0.1 + upper_replacement_value: 10.0 diff --git a/resources/config/physical/pioneer/navigation/2d/base_local_planner_params.yaml b/resources/config/physical/pioneer/navigation/2d/base_local_planner_params.yaml new file mode 100644 index 0000000..4f70f93 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/2d/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/physical/pioneer/navigation/2d/controllers.yaml b/resources/config/physical/pioneer/navigation/2d/controllers.yaml new file mode 100644 index 0000000..1a42b4e --- /dev/null +++ b/resources/config/physical/pioneer/navigation/2d/controllers.yaml @@ -0,0 +1,81 @@ +controllers: + - name: 'DWAPlannerROS' + type: 'dwa_local_planner/DWAPlannerROS' + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/physical/pioneer/navigation/2d/costmap_common_params.yaml b/resources/config/physical/pioneer/navigation/2d/costmap_common_params.yaml new file mode 100644 index 0000000..ccc7653 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/2d/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /frontscan_filtered, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/physical/pioneer/navigation/2d/global_costmap_params.yaml b/resources/config/physical/pioneer/navigation/2d/global_costmap_params.yaml new file mode 100644 index 0000000..ca15b85 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/2d/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 0.5 + static_map: + map_topic: /map + + diff --git a/resources/config/physical/pioneer/navigation/2d/global_planner_params.yaml b/resources/config/physical/pioneer/navigation/2d/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/2d/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/physical/pioneer/navigation/2d/local_costmap_params.yaml b/resources/config/physical/pioneer/navigation/2d/local_costmap_params.yaml new file mode 100644 index 0000000..9dd6de2 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/2d/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/physical/pioneer/navigation/2d/planners.yaml b/resources/config/physical/pioneer/navigation/2d/planners.yaml new file mode 100644 index 0000000..55a8eaa --- /dev/null +++ b/resources/config/physical/pioneer/navigation/2d/planners.yaml @@ -0,0 +1,29 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' + - name: 'SBPLLatticePlanner' + type: 'SBPLLatticePlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 +SBPLLatticePlanner: + planner_type: 'ARAPlanner' + allocated_time: 20.0 # default: 10.0 + initial_epsilon: 3.0 + environment_type: 'XYThetaLattice' # The only environment supported + forward_search: true # default is false + # NOTE: param 'primitive_filename'. This needs to be set to the path to 'ceres_navigation/mprim/ceres_5cm.mprim' + # You may put it in the mprim.yaml file, which is ignored by git, so everybody can setup his own path. + nominalvel_mpersecs: 0.7 + timetoturn45degsinplace_secs: 0.6 + lethal_obstacle: 250 + diff --git a/resources/config/physical/pioneer/navigation/2d/recovery_behaviors.yaml b/resources/config/physical/pioneer/navigation/2d/recovery_behaviors.yaml new file mode 100644 index 0000000..81e8114 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/2d/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'moveback_recovery' + type: 'moveback_recovery/MoveBackRecovery' + +moveback_recovery: + linear_vel_back: -0.1 # default -0.3 + step_back_length: 0.3 # default 1.0 + step_back_timeout: 5.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/physical/pioneer/navigation/2d_unknown/base_local_planner_params.yaml b/resources/config/physical/pioneer/navigation/2d_unknown/base_local_planner_params.yaml new file mode 100644 index 0000000..4f70f93 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/2d_unknown/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/physical/pioneer/navigation/2d_unknown/costmap_common_params.yaml b/resources/config/physical/pioneer/navigation/2d_unknown/costmap_common_params.yaml new file mode 100644 index 0000000..ccc7653 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/2d_unknown/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /frontscan_filtered, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/physical/pioneer/navigation/2d_unknown/global_costmap_params.yaml b/resources/config/physical/pioneer/navigation/2d_unknown/global_costmap_params.yaml new file mode 100644 index 0000000..411eb66 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/2d_unknown/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 0.0 + static_map: false + rolling_window: true + width: 500.0 + height: 500.0 + resolution: 0.1 diff --git a/resources/config/physical/pioneer/navigation/2d_unknown/global_planner_params.yaml b/resources/config/physical/pioneer/navigation/2d_unknown/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/2d_unknown/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/physical/pioneer/navigation/2d_unknown/local_costmap_params.yaml b/resources/config/physical/pioneer/navigation/2d_unknown/local_costmap_params.yaml new file mode 100644 index 0000000..9dd6de2 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/2d_unknown/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/physical/pioneer/navigation/3d/base_local_planner_params.yaml b/resources/config/physical/pioneer/navigation/3d/base_local_planner_params.yaml new file mode 100644 index 0000000..03f9503 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/3d/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true \ No newline at end of file diff --git a/resources/config/physical/pioneer/navigation/3d/costmap_common_params.yaml b/resources/config/physical/pioneer/navigation/3d/costmap_common_params.yaml new file mode 100644 index 0000000..0bc5e3b --- /dev/null +++ b/resources/config/physical/pioneer/navigation/3d/costmap_common_params.yaml @@ -0,0 +1,73 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +3d_obstacles: + enabled: true + voxel_decay: 15 #seconds if linear, e^n if exponential + decay_model: 0 #0=linear, 1=exponential, -1=persistent + voxel_size: 0.05 #meters + track_unknown_space: true #default space is unknown + observation_persistence: 0.0 #seconds + unknown_threshold: 15 #voxel height + mark_threshold: 0 #voxel height + update_footprint_enabled: true + combination_method: 1 #1=max, 0=override + + origin_z: 0.0 #meters + publish_voxel_map: true # default off + transform_tolerance: 0.4 + mapping_mode: false # default off, saves map not for navigation + map_save_duration: 60 #default 60s, how often to autosave + observation_sources: positive_obstacle negative_obstacle + positive_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /kinect/depth/points_filtered + marking: true + clearing: true + min_obstacle_height: 0.05 #default 0, meters + #robot config defines max height here + min_z: -0.1 + max_z: 6 + vertical_fov_angle: 0.7 #default 0.7, radians + horizontal_fov_angle: 1.04 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + negative_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /kinect/depth/points_filtered + marking: true + clearing: false + min_obstacle_height: -5 #default 0, meters + max_obstacle_height: -0.2 + min_z: -6 + max_z: 0.1 + vertical_fov_angle: 0.785398 #default 0.7, radians + horizontal_fov_angle: 0.942478 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /frontscan_filtered, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/physical/pioneer/navigation/3d/global_costmap_params.yaml b/resources/config/physical/pioneer/navigation/3d/global_costmap_params.yaml new file mode 100644 index 0000000..c6c5ff5 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/3d/global_costmap_params.yaml @@ -0,0 +1,19 @@ +global_costmap: + plugins: + - {name: static_map_3d_negative, type: "costmap_2d::StaticLayer"} + - {name: static_map_3d_positive, type: "costmap_2d::StaticLayer"} + - {name: static_map_2d, type: "costmap_2d::StaticLayer"} + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 0.5 + static_map_2d: + map_topic: /map + static_map_3d_positive: + map_topic: /projected_map + static_map_3d_negative: + map_topic: /projected_map_negative + diff --git a/resources/config/physical/pioneer/navigation/3d/global_planner_params.yaml b/resources/config/physical/pioneer/navigation/3d/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/3d/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/physical/pioneer/navigation/3d/local_costmap_params.yaml b/resources/config/physical/pioneer/navigation/3d/local_costmap_params.yaml new file mode 100644 index 0000000..83896b2 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/3d/local_costmap_params.yaml @@ -0,0 +1,13 @@ +local_costmap: + plugins: + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/physical/pioneer/navigation/3d_unknown/base_local_planner_params.yaml b/resources/config/physical/pioneer/navigation/3d_unknown/base_local_planner_params.yaml new file mode 100644 index 0000000..03f9503 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/3d_unknown/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true \ No newline at end of file diff --git a/resources/config/physical/pioneer/navigation/3d_unknown/costmap_common_params.yaml b/resources/config/physical/pioneer/navigation/3d_unknown/costmap_common_params.yaml new file mode 100644 index 0000000..0bc5e3b --- /dev/null +++ b/resources/config/physical/pioneer/navigation/3d_unknown/costmap_common_params.yaml @@ -0,0 +1,73 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +3d_obstacles: + enabled: true + voxel_decay: 15 #seconds if linear, e^n if exponential + decay_model: 0 #0=linear, 1=exponential, -1=persistent + voxel_size: 0.05 #meters + track_unknown_space: true #default space is unknown + observation_persistence: 0.0 #seconds + unknown_threshold: 15 #voxel height + mark_threshold: 0 #voxel height + update_footprint_enabled: true + combination_method: 1 #1=max, 0=override + + origin_z: 0.0 #meters + publish_voxel_map: true # default off + transform_tolerance: 0.4 + mapping_mode: false # default off, saves map not for navigation + map_save_duration: 60 #default 60s, how often to autosave + observation_sources: positive_obstacle negative_obstacle + positive_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /kinect/depth/points_filtered + marking: true + clearing: true + min_obstacle_height: 0.05 #default 0, meters + #robot config defines max height here + min_z: -0.1 + max_z: 6 + vertical_fov_angle: 0.7 #default 0.7, radians + horizontal_fov_angle: 1.04 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + negative_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /kinect/depth/points_filtered + marking: true + clearing: false + min_obstacle_height: -5 #default 0, meters + max_obstacle_height: -0.2 + min_z: -6 + max_z: 0.1 + vertical_fov_angle: 0.785398 #default 0.7, radians + horizontal_fov_angle: 0.942478 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /frontscan_filtered, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/physical/pioneer/navigation/3d_unknown/global_costmap_params.yaml b/resources/config/physical/pioneer/navigation/3d_unknown/global_costmap_params.yaml new file mode 100644 index 0000000..c0ffab0 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/3d_unknown/global_costmap_params.yaml @@ -0,0 +1,15 @@ +global_costmap: + plugins: + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 0.0 + static_map: false + rolling_window: true + width: 500.0 + height: 500.0 + resolution: 0.1 + diff --git a/resources/config/physical/pioneer/navigation/3d_unknown/global_planner_params.yaml b/resources/config/physical/pioneer/navigation/3d_unknown/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/3d_unknown/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/physical/pioneer/navigation/3d_unknown/local_costmap_params.yaml b/resources/config/physical/pioneer/navigation/3d_unknown/local_costmap_params.yaml new file mode 100644 index 0000000..83896b2 --- /dev/null +++ b/resources/config/physical/pioneer/navigation/3d_unknown/local_costmap_params.yaml @@ -0,0 +1,13 @@ +local_costmap: + plugins: + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/physical/pioneer/pc_to_laser_config.yaml b/resources/config/physical/pioneer/pc_to_laser_config.yaml new file mode 100644 index 0000000..ddad1eb --- /dev/null +++ b/resources/config/physical/pioneer/pc_to_laser_config.yaml @@ -0,0 +1,9 @@ +#Physical parameters for the kinect +angle_min: -0.4974188 +angle_max: 0.4974188 +angle_increment: 0.00349066 +range_min: 0.6 +range_max: 4 +min_height: 0 +max_height: 1 +scan_time: 0.066666667 \ No newline at end of file diff --git a/resources/config/physical/pioneer/rearlaser_config.yaml b/resources/config/physical/pioneer/rearlaser_config.yaml new file mode 100644 index 0000000..c5c5ea4 --- /dev/null +++ b/resources/config/physical/pioneer/rearlaser_config.yaml @@ -0,0 +1,16 @@ +# Descriptor also modifies the published laser topic. +descriptor: "rear" +enabled: false # Try setting true +visualize: true + +#Sensor Positioning: +x: -0.23 # Meters +y: 0.0 # Meters +z: 0.275 # Meters +yaw: 3.14 # Radians + +# Sensor Settings +min_angle: -2.26889 # Radians +max_angle: 2.26889 # Radians +ray_count: 240 +range: 10.0 # Meters diff --git a/resources/config/physical/pioneer/robot_dimensions.yaml b/resources/config/physical/pioneer/robot_dimensions.yaml new file mode 100644 index 0000000..d896a45 --- /dev/null +++ b/resources/config/physical/pioneer/robot_dimensions.yaml @@ -0,0 +1,2 @@ +#Define some dimensions of the robot for filtering octomaps +occupancy_max_z: 0.4 # meters diff --git a/resources/config/physical/pioneer_bot_mbf/base_local_planner_params.yaml b/resources/config/physical/pioneer_bot_mbf/base_local_planner_params.yaml new file mode 100644 index 0000000..984b4c1 --- /dev/null +++ b/resources/config/physical/pioneer_bot_mbf/base_local_planner_params.yaml @@ -0,0 +1,20 @@ +controllers: + - name: 'TrajectoryPlannerROS' + type: 'base_local_planner/TrajectoryPlannerROS' + +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false \ No newline at end of file diff --git a/resources/config/physical/pioneer_bot_mbf/controllers.yaml b/resources/config/physical/pioneer_bot_mbf/controllers.yaml new file mode 100644 index 0000000..cf27f63 --- /dev/null +++ b/resources/config/physical/pioneer_bot_mbf/controllers.yaml @@ -0,0 +1,59 @@ +controllers: + - name: 'DWAPlannerROS' + type: 'dwa_local_planner/DWAPlannerROS' + +DWAPlannerROS: + max_vel_x: 2.0 + min_vel_x: 0.0 + + max_vel_y: 0.0 + min_vel_y: 0.0 + + max_trans_vel: 2.12 + min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.1 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_rot_vel: 2.0 # choose slightly less than the base's capability + min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity + rot_stopped_vel: 0.1 + + acc_lim_x: 0.7 # maximum is theoretically 2.0, but we + acc_lim_theta: 10.0 + acc_lim_y: 0.1 # diff drive robot + + # Goal Tolerance Parameters + yaw_goal_tolerance: 0.4 # 0.05 + xy_goal_tolerance: 0.2 # 0.10 + # latch_xy_goal_tolerance: false + + # Forward Simulation Parameters + sim_time: 2.0 # 1.7 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 20 # 3 + vy_samples: 1 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + + # Trajectory Scoring Parameters + path_distance_bias: 0.1 # 32.0 - weighting for how much it should stick to the global path plan -- if this value is too high, won't avoid dynamic obstacles + goal_distance_bias: 40.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.2 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.0 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.3 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 1.0 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + + # Oscillation Prevention Parameters + oscillation_reset_dist: 0.1 # 0.05 - how far to travel before resetting oscillation flags + + holonomic_robot: false + + # Debugging + publish_traj_pc: true + publish_cost_grid_pc: true + global_frame_id: map + diff --git a/resources/config/physical/pioneer_bot_mbf/costmap_common_params.yaml b/resources/config/physical/pioneer_bot_mbf/costmap_common_params.yaml new file mode 100644 index 0000000..4b21211 --- /dev/null +++ b/resources/config/physical/pioneer_bot_mbf/costmap_common_params.yaml @@ -0,0 +1,23 @@ +global_frame: map +robot_base_frame: pioneer_bot/base_link + +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 1.0 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: pioneer_bot/hokuyo_front_link, data_type: LaserScan, topic: /pioneer_bot/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/physical/pioneer_bot_mbf/global_costmap_params.yaml b/resources/config/physical/pioneer_bot_mbf/global_costmap_params.yaml new file mode 100644 index 0000000..50b042f --- /dev/null +++ b/resources/config/physical/pioneer_bot_mbf/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: pioneer_bot/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/physical/pioneer_bot_mbf/local_costmap_params.yaml b/resources/config/physical/pioneer_bot_mbf/local_costmap_params.yaml new file mode 100644 index 0000000..9e0c8e7 --- /dev/null +++ b/resources/config/physical/pioneer_bot_mbf/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: map + robot_base_frame: pioneer_bot/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/physical/pioneer_bot_mbf/planners.yaml b/resources/config/physical/pioneer_bot_mbf/planners.yaml new file mode 100644 index 0000000..e639792 --- /dev/null +++ b/resources/config/physical/pioneer_bot_mbf/planners.yaml @@ -0,0 +1,17 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 + + diff --git a/resources/config/physical/pioneer_bot_mbf/recovery_behaviors.yaml b/resources/config/physical/pioneer_bot_mbf/recovery_behaviors.yaml new file mode 100644 index 0000000..960f63a --- /dev/null +++ b/resources/config/physical/pioneer_bot_mbf/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'moveback_recovery' + type: 'moveback_recovery/MoveBackRecovery' + +moveback_recovery: + linear_vel_back: -0.3 # default -0.3 + step_back_length: 1.0 # default 1.0 + step_back_timeout: 15.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/physical/pioneer_mbf/base_local_planner_params.yaml b/resources/config/physical/pioneer_mbf/base_local_planner_params.yaml new file mode 100644 index 0000000..984b4c1 --- /dev/null +++ b/resources/config/physical/pioneer_mbf/base_local_planner_params.yaml @@ -0,0 +1,20 @@ +controllers: + - name: 'TrajectoryPlannerROS' + type: 'base_local_planner/TrajectoryPlannerROS' + +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false \ No newline at end of file diff --git a/resources/config/physical/pioneer_mbf/controllers.yaml b/resources/config/physical/pioneer_mbf/controllers.yaml new file mode 100644 index 0000000..cf27f63 --- /dev/null +++ b/resources/config/physical/pioneer_mbf/controllers.yaml @@ -0,0 +1,59 @@ +controllers: + - name: 'DWAPlannerROS' + type: 'dwa_local_planner/DWAPlannerROS' + +DWAPlannerROS: + max_vel_x: 2.0 + min_vel_x: 0.0 + + max_vel_y: 0.0 + min_vel_y: 0.0 + + max_trans_vel: 2.12 + min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.1 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_rot_vel: 2.0 # choose slightly less than the base's capability + min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity + rot_stopped_vel: 0.1 + + acc_lim_x: 0.7 # maximum is theoretically 2.0, but we + acc_lim_theta: 10.0 + acc_lim_y: 0.1 # diff drive robot + + # Goal Tolerance Parameters + yaw_goal_tolerance: 0.4 # 0.05 + xy_goal_tolerance: 0.2 # 0.10 + # latch_xy_goal_tolerance: false + + # Forward Simulation Parameters + sim_time: 2.0 # 1.7 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 20 # 3 + vy_samples: 1 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + + # Trajectory Scoring Parameters + path_distance_bias: 0.1 # 32.0 - weighting for how much it should stick to the global path plan -- if this value is too high, won't avoid dynamic obstacles + goal_distance_bias: 40.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.2 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.0 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.3 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 1.0 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + + # Oscillation Prevention Parameters + oscillation_reset_dist: 0.1 # 0.05 - how far to travel before resetting oscillation flags + + holonomic_robot: false + + # Debugging + publish_traj_pc: true + publish_cost_grid_pc: true + global_frame_id: map + diff --git a/resources/config/physical/pioneer_mbf/costmap_common_params.yaml b/resources/config/physical/pioneer_mbf/costmap_common_params.yaml new file mode 100644 index 0000000..a05dae4 --- /dev/null +++ b/resources/config/physical/pioneer_mbf/costmap_common_params.yaml @@ -0,0 +1,24 @@ +# global_frame: map +# robot_base_frame: pioneer/base_link + +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: urg_link, data_type: LaserScan, topic: /pioneer/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} +# laser_scan_sensor: {sensor_frame: pioneer/hokuyo_front_link, data_type: LaserScan, topic: /pioneer/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/physical/pioneer_mbf/global_costmap_params.yaml b/resources/config/physical/pioneer_mbf/global_costmap_params.yaml new file mode 100644 index 0000000..0a0b3ee --- /dev/null +++ b/resources/config/physical/pioneer_mbf/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: pioneer/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/physical/pioneer_mbf/local_costmap_params.yaml b/resources/config/physical/pioneer_mbf/local_costmap_params.yaml new file mode 100644 index 0000000..e78688c --- /dev/null +++ b/resources/config/physical/pioneer_mbf/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: map + robot_base_frame: pioneer/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/physical/pioneer_mbf/planners.yaml b/resources/config/physical/pioneer_mbf/planners.yaml new file mode 100644 index 0000000..e639792 --- /dev/null +++ b/resources/config/physical/pioneer_mbf/planners.yaml @@ -0,0 +1,17 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 + + diff --git a/resources/config/physical/pioneer_mbf/recovery_behaviors.yaml b/resources/config/physical/pioneer_mbf/recovery_behaviors.yaml new file mode 100644 index 0000000..960f63a --- /dev/null +++ b/resources/config/physical/pioneer_mbf/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'moveback_recovery' + type: 'moveback_recovery/MoveBackRecovery' + +moveback_recovery: + linear_vel_back: -0.3 # default -0.3 + step_back_length: 1.0 # default 1.0 + step_back_timeout: 15.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/physical/rviz_default/config.rviz b/resources/config/physical/rviz_default/config.rviz new file mode 100644 index 0000000..6d8aa59 --- /dev/null +++ b/resources/config/physical/rviz_default/config.rviz @@ -0,0 +1,558 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Local Costmap1/Position1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map (map_server) + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Map (octomap) + Topic: /projected_map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: false + Name: Map (negative_octomap) + Topic: /projected_map_negative + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.5 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.300000012 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Angle Tolerance: 0.100000001 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 50 + Name: Odometry + Position Tolerance: 0.100000001 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Color: 255; 25; 0 + Head Length: 0.300000012 + Head Radius: 0.100000001 + Shaft Length: 0.25 + Shaft Radius: 0.0500000007 + Value: Arrow + Topic: /odom + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Pose CurrentGoal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /move_base/current_goal + Unreliable: false + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Global Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/GlobalPlanner/plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 42; 5; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Scope Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Local Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Robot Footprint + Topic: /move_base/global_costmap/footprint + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bellows_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bellows_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + estop_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_fixed_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + upperarm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 8.14708233 + Min Value: -0.663921654 + Value: true + Axis: X + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: 8.40779079e-45 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0500000007 + Style: Spheres + Topic: laserscan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: pointcloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: octomap_rviz_plugin/OccupancyGrid + Enabled: false + Max. Height Display: 3.40282347e+38 + Max. Octree Depth: 16 + Min. Height Display: -3.40282347e+38 + Name: Octomap + Octomap Topic: /octomap_binary + Queue Size: 5 + Value: false + Voxel Alpha: 1 + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: amcl/initialpose + - Class: rviz/SetGoal + Topic: move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 10.4293051 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 1.43479645 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 3.12856698 + Saved: + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Top Down + Near Clip Distance: 0.00999999978 + Scale: 20 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/ThirdPersonFollower + Distance: 7.52257919 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Follower + Near Clip Distance: 0.00999999978 + Pitch: 0.490398467 + Target Frame: pioneer/base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.18539834 + - Class: rviz/XYOrbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Orbit + Near Clip Distance: 0.00999999978 + Pitch: 0.595398366 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 4.12540293 +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df000002af000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/resources/config/pioneer/navigation/2d/controllers.yaml b/resources/config/pioneer/navigation/2d/controllers.yaml new file mode 100644 index 0000000..1a42b4e --- /dev/null +++ b/resources/config/pioneer/navigation/2d/controllers.yaml @@ -0,0 +1,81 @@ +controllers: + - name: 'DWAPlannerROS' + type: 'dwa_local_planner/DWAPlannerROS' + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/pioneer/navigation/2d/planners.yaml b/resources/config/pioneer/navigation/2d/planners.yaml new file mode 100644 index 0000000..55a8eaa --- /dev/null +++ b/resources/config/pioneer/navigation/2d/planners.yaml @@ -0,0 +1,29 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' + - name: 'SBPLLatticePlanner' + type: 'SBPLLatticePlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 +SBPLLatticePlanner: + planner_type: 'ARAPlanner' + allocated_time: 20.0 # default: 10.0 + initial_epsilon: 3.0 + environment_type: 'XYThetaLattice' # The only environment supported + forward_search: true # default is false + # NOTE: param 'primitive_filename'. This needs to be set to the path to 'ceres_navigation/mprim/ceres_5cm.mprim' + # You may put it in the mprim.yaml file, which is ignored by git, so everybody can setup his own path. + nominalvel_mpersecs: 0.7 + timetoturn45degsinplace_secs: 0.6 + lethal_obstacle: 250 + diff --git a/resources/config/pioneer/navigation/2d/recovery_behaviors.yaml b/resources/config/pioneer/navigation/2d/recovery_behaviors.yaml new file mode 100644 index 0000000..81e8114 --- /dev/null +++ b/resources/config/pioneer/navigation/2d/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'moveback_recovery' + type: 'moveback_recovery/MoveBackRecovery' + +moveback_recovery: + linear_vel_back: -0.1 # default -0.3 + step_back_length: 0.3 # default 1.0 + step_back_timeout: 5.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/pioneer_bot_mbf/base_local_planner_params.yaml b/resources/config/pioneer_bot_mbf/base_local_planner_params.yaml new file mode 100644 index 0000000..984b4c1 --- /dev/null +++ b/resources/config/pioneer_bot_mbf/base_local_planner_params.yaml @@ -0,0 +1,20 @@ +controllers: + - name: 'TrajectoryPlannerROS' + type: 'base_local_planner/TrajectoryPlannerROS' + +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false \ No newline at end of file diff --git a/resources/config/pioneer_bot_mbf/controllers.yaml b/resources/config/pioneer_bot_mbf/controllers.yaml new file mode 100644 index 0000000..cf27f63 --- /dev/null +++ b/resources/config/pioneer_bot_mbf/controllers.yaml @@ -0,0 +1,59 @@ +controllers: + - name: 'DWAPlannerROS' + type: 'dwa_local_planner/DWAPlannerROS' + +DWAPlannerROS: + max_vel_x: 2.0 + min_vel_x: 0.0 + + max_vel_y: 0.0 + min_vel_y: 0.0 + + max_trans_vel: 2.12 + min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.1 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_rot_vel: 2.0 # choose slightly less than the base's capability + min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity + rot_stopped_vel: 0.1 + + acc_lim_x: 0.7 # maximum is theoretically 2.0, but we + acc_lim_theta: 10.0 + acc_lim_y: 0.1 # diff drive robot + + # Goal Tolerance Parameters + yaw_goal_tolerance: 0.4 # 0.05 + xy_goal_tolerance: 0.2 # 0.10 + # latch_xy_goal_tolerance: false + + # Forward Simulation Parameters + sim_time: 2.0 # 1.7 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 20 # 3 + vy_samples: 1 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + + # Trajectory Scoring Parameters + path_distance_bias: 0.1 # 32.0 - weighting for how much it should stick to the global path plan -- if this value is too high, won't avoid dynamic obstacles + goal_distance_bias: 40.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.2 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.0 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.3 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 1.0 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + + # Oscillation Prevention Parameters + oscillation_reset_dist: 0.1 # 0.05 - how far to travel before resetting oscillation flags + + holonomic_robot: false + + # Debugging + publish_traj_pc: true + publish_cost_grid_pc: true + global_frame_id: map + diff --git a/resources/config/pioneer_bot_mbf/costmap_common_params.yaml b/resources/config/pioneer_bot_mbf/costmap_common_params.yaml new file mode 100644 index 0000000..4b21211 --- /dev/null +++ b/resources/config/pioneer_bot_mbf/costmap_common_params.yaml @@ -0,0 +1,23 @@ +global_frame: map +robot_base_frame: pioneer_bot/base_link + +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 1.0 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: pioneer_bot/hokuyo_front_link, data_type: LaserScan, topic: /pioneer_bot/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/pioneer_bot_mbf/global_costmap_params.yaml b/resources/config/pioneer_bot_mbf/global_costmap_params.yaml new file mode 100644 index 0000000..50b042f --- /dev/null +++ b/resources/config/pioneer_bot_mbf/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: pioneer_bot/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/pioneer_bot_mbf/local_costmap_params.yaml b/resources/config/pioneer_bot_mbf/local_costmap_params.yaml new file mode 100644 index 0000000..9e0c8e7 --- /dev/null +++ b/resources/config/pioneer_bot_mbf/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: map + robot_base_frame: pioneer_bot/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/pioneer_bot_mbf/planners.yaml b/resources/config/pioneer_bot_mbf/planners.yaml new file mode 100644 index 0000000..e639792 --- /dev/null +++ b/resources/config/pioneer_bot_mbf/planners.yaml @@ -0,0 +1,17 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 + + diff --git a/resources/config/pioneer_bot_mbf/recovery_behaviors.yaml b/resources/config/pioneer_bot_mbf/recovery_behaviors.yaml new file mode 100644 index 0000000..960f63a --- /dev/null +++ b/resources/config/pioneer_bot_mbf/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'moveback_recovery' + type: 'moveback_recovery/MoveBackRecovery' + +moveback_recovery: + linear_vel_back: -0.3 # default -0.3 + step_back_length: 1.0 # default 1.0 + step_back_timeout: 15.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/pioneer_mbf/base_local_planner_params.yaml b/resources/config/pioneer_mbf/base_local_planner_params.yaml new file mode 100644 index 0000000..984b4c1 --- /dev/null +++ b/resources/config/pioneer_mbf/base_local_planner_params.yaml @@ -0,0 +1,20 @@ +controllers: + - name: 'TrajectoryPlannerROS' + type: 'base_local_planner/TrajectoryPlannerROS' + +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false \ No newline at end of file diff --git a/resources/config/pioneer_mbf/controllers.yaml b/resources/config/pioneer_mbf/controllers.yaml new file mode 100644 index 0000000..cf27f63 --- /dev/null +++ b/resources/config/pioneer_mbf/controllers.yaml @@ -0,0 +1,59 @@ +controllers: + - name: 'DWAPlannerROS' + type: 'dwa_local_planner/DWAPlannerROS' + +DWAPlannerROS: + max_vel_x: 2.0 + min_vel_x: 0.0 + + max_vel_y: 0.0 + min_vel_y: 0.0 + + max_trans_vel: 2.12 + min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.1 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_rot_vel: 2.0 # choose slightly less than the base's capability + min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity + rot_stopped_vel: 0.1 + + acc_lim_x: 0.7 # maximum is theoretically 2.0, but we + acc_lim_theta: 10.0 + acc_lim_y: 0.1 # diff drive robot + + # Goal Tolerance Parameters + yaw_goal_tolerance: 0.4 # 0.05 + xy_goal_tolerance: 0.2 # 0.10 + # latch_xy_goal_tolerance: false + + # Forward Simulation Parameters + sim_time: 2.0 # 1.7 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 20 # 3 + vy_samples: 1 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + + # Trajectory Scoring Parameters + path_distance_bias: 0.1 # 32.0 - weighting for how much it should stick to the global path plan -- if this value is too high, won't avoid dynamic obstacles + goal_distance_bias: 40.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.2 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.0 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.3 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 1.0 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + + # Oscillation Prevention Parameters + oscillation_reset_dist: 0.1 # 0.05 - how far to travel before resetting oscillation flags + + holonomic_robot: false + + # Debugging + publish_traj_pc: true + publish_cost_grid_pc: true + global_frame_id: map + diff --git a/resources/config/pioneer_mbf/costmap_common_params.yaml b/resources/config/pioneer_mbf/costmap_common_params.yaml new file mode 100644 index 0000000..a05dae4 --- /dev/null +++ b/resources/config/pioneer_mbf/costmap_common_params.yaml @@ -0,0 +1,24 @@ +# global_frame: map +# robot_base_frame: pioneer/base_link + +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: urg_link, data_type: LaserScan, topic: /pioneer/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} +# laser_scan_sensor: {sensor_frame: pioneer/hokuyo_front_link, data_type: LaserScan, topic: /pioneer/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/pioneer_mbf/global_costmap_params.yaml b/resources/config/pioneer_mbf/global_costmap_params.yaml new file mode 100644 index 0000000..0a0b3ee --- /dev/null +++ b/resources/config/pioneer_mbf/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: pioneer/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/pioneer_mbf/local_costmap_params.yaml b/resources/config/pioneer_mbf/local_costmap_params.yaml new file mode 100644 index 0000000..e78688c --- /dev/null +++ b/resources/config/pioneer_mbf/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: map + robot_base_frame: pioneer/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/pioneer_mbf/planners.yaml b/resources/config/pioneer_mbf/planners.yaml new file mode 100644 index 0000000..e639792 --- /dev/null +++ b/resources/config/pioneer_mbf/planners.yaml @@ -0,0 +1,17 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 + + diff --git a/resources/config/pioneer_mbf/recovery_behaviors.yaml b/resources/config/pioneer_mbf/recovery_behaviors.yaml new file mode 100644 index 0000000..960f63a --- /dev/null +++ b/resources/config/pioneer_mbf/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'moveback_recovery' + type: 'moveback_recovery/MoveBackRecovery' + +moveback_recovery: + linear_vel_back: -0.3 # default -0.3 + step_back_length: 1.0 # default 1.0 + step_back_timeout: 15.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/simulation/default_pioneer/base_local_planner_params.yaml b/resources/config/simulation/default_pioneer/base_local_planner_params.yaml new file mode 100644 index 0000000..ab4d04d --- /dev/null +++ b/resources/config/simulation/default_pioneer/base_local_planner_params.yaml @@ -0,0 +1,16 @@ +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/simulation/default_pioneer/costmap_common_params.yaml b/resources/config/simulation/default_pioneer/costmap_common_params.yaml new file mode 100644 index 0000000..cd1ba11 --- /dev/null +++ b/resources/config/simulation/default_pioneer/costmap_common_params.yaml @@ -0,0 +1,22 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.45 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.3 +map_type: costmap + +observation_sources: laser_scan_sensor + +# laser_scan_sensor: {sensor_frame: /hokuyo_tf, data_type: LaserScan, topic: /pioneer/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} +$ laser_scan_sensor: {sensor_frame: pioneer/hokuyo_front_link, data_type: LaserScan, topic: /pioneer/frontscan, marking: true, clearing: true, expected_update_rate: 0.5} + + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/simulation/default_pioneer/global_costmap_params.yaml b/resources/config/simulation/default_pioneer/global_costmap_params.yaml new file mode 100644 index 0000000..0a0b3ee --- /dev/null +++ b/resources/config/simulation/default_pioneer/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: pioneer/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/simulation/default_pioneer/local_costmap_params.yaml b/resources/config/simulation/default_pioneer/local_costmap_params.yaml new file mode 100644 index 0000000..e78688c --- /dev/null +++ b/resources/config/simulation/default_pioneer/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: map + robot_base_frame: pioneer/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/simulation/default_pioneer_bot/base_local_planner_params.yaml b/resources/config/simulation/default_pioneer_bot/base_local_planner_params.yaml new file mode 100644 index 0000000..ab4d04d --- /dev/null +++ b/resources/config/simulation/default_pioneer_bot/base_local_planner_params.yaml @@ -0,0 +1,16 @@ +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/simulation/default_pioneer_bot/costmap_common_params.yaml b/resources/config/simulation/default_pioneer_bot/costmap_common_params.yaml new file mode 100644 index 0000000..f38fa2e --- /dev/null +++ b/resources/config/simulation/default_pioneer_bot/costmap_common_params.yaml @@ -0,0 +1,20 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: pioneer_bot/hokuyo_front_link, data_type: LaserScan, topic: /pioneer_bot/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/simulation/default_pioneer_bot/global_costmap_params.yaml b/resources/config/simulation/default_pioneer_bot/global_costmap_params.yaml new file mode 100644 index 0000000..50b042f --- /dev/null +++ b/resources/config/simulation/default_pioneer_bot/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: pioneer_bot/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/simulation/default_pioneer_bot/local_costmap_params.yaml b/resources/config/simulation/default_pioneer_bot/local_costmap_params.yaml new file mode 100644 index 0000000..1b2f1f8 --- /dev/null +++ b/resources/config/simulation/default_pioneer_bot/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: pioneer_bot/odom + robot_base_frame: pioneer_bot/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/simulation/fetch/config.rviz b/resources/config/simulation/fetch/config.rviz new file mode 100644 index 0000000..e853fe9 --- /dev/null +++ b/resources/config/simulation/fetch/config.rviz @@ -0,0 +1,585 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Costmap1 + - /Local Costmap1/Position1 + - /PointCloud21 + Splitter Ratio: 0.5 + Tree Height: 726 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map (map_server) + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Map (octomap) + Topic: /projected_map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: false + Name: Map (negative_octomap) + Topic: /projected_map_negative + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.5 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.30000001192092896 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 50 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 0.25 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /odom + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose CurrentGoal + Shaft Length: 0.5 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /move_base/current_goal + Unreliable: false + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.029999999329447746 + Name: Global Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/GlobalPlanner/plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 42; 5; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.029999999329447746 + Name: Scope Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Local Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Robot Footprint + Topic: /move_base/global_costmap/footprint + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bellows_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bellows_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + estop_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_fixed_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + upperarm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 8.147082328796387 + Min Value: -0.6639216542243958 + Value: true + Axis: X + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: 8.407790785948902e-45 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Spheres + Topic: /base_scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /head_camera/depth_downsample/points_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: octomap_rviz_plugin/OccupancyGrid + Enabled: false + Max. Height Display: 3.4028234663852886e+38 + Max. Octree Depth: 16 + Min. Height Display: -3.4028234663852886e+38 + Name: Octomap + Octomap Topic: /octomap_binary + Queue Size: 5 + Value: false + Voxel Alpha: 1 + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: amcl/initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/ThirdPersonFollower + Distance: 5.126427173614502 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.4553984999656677 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.155397653579712 + Saved: + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Top Down + Near Clip Distance: 0.009999999776482582 + Scale: 20 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/ThirdPersonFollower + Distance: 7.522579193115234 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot Follower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.49039846658706665 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.1853983402252197 + - Class: rviz/XYOrbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot Orbit + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5953983664512634 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 4.125402927398682 +Window Geometry: + Displays: + collapsed: false + Height: 1023 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1267 + X: 653 + Y: 27 diff --git a/resources/config/simulation/fetch/costmap_height.yaml b/resources/config/simulation/fetch/costmap_height.yaml new file mode 100644 index 0000000..238f3e3 --- /dev/null +++ b/resources/config/simulation/fetch/costmap_height.yaml @@ -0,0 +1,3 @@ +3d_obstacles: + positive_obstacle: + max_obstacle_height: 1.5 \ No newline at end of file diff --git a/resources/config/simulation/fetch/default_controllers.yaml b/resources/config/simulation/fetch/default_controllers.yaml new file mode 100644 index 0000000..fa3f07f --- /dev/null +++ b/resources/config/simulation/fetch/default_controllers.yaml @@ -0,0 +1,241 @@ +arm_controller: + follow_joint_trajectory: + type: "robot_controllers/FollowJointTrajectoryController" + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - upperarm_roll_joint + - elbow_flex_joint + - forearm_roll_joint + - wrist_flex_joint + - wrist_roll_joint + gravity_compensation: + type: "robot_controllers/GravityCompensation" + root: "torso_lift_link" + tip: "gripper_link" + autostart: true + +arm_with_torso_controller: + follow_joint_trajectory: + type: "robot_controllers/FollowJointTrajectoryController" + joints: + - torso_lift_joint + - shoulder_pan_joint + - shoulder_lift_joint + - upperarm_roll_joint + - elbow_flex_joint + - forearm_roll_joint + - wrist_flex_joint + - wrist_roll_joint + +torso_controller: + follow_joint_trajectory: + type: "robot_controllers/FollowJointTrajectoryController" + joints: + - torso_lift_joint + +head_controller: + point_head: + type: "robot_controllers/PointHeadController" + follow_joint_trajectory: + type: "robot_controllers/FollowJointTrajectoryController" + joints: + - head_pan_joint + - head_tilt_joint + +base_controller: + type: "robot_controllers/DiffDriveBaseController" + autostart: true + +gripper_controller: + gripper_action: + type: "robot_controllers/ParallelGripperController" + centering: + p: 1000.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + +bellows_controller: + type: "robot_controllers/ScaledMimicController" + mimic_joint: "torso_lift_joint" + controlled_joint: "bellows_joint" + mimic_scale: 0.5 + autostart: true + +gazebo: + default_controllers: + - "arm_controller/follow_joint_trajectory" + - "arm_controller/gravity_compensation" + - "arm_with_torso_controller/follow_joint_trajectory" + - "base_controller" + - "head_controller/follow_joint_trajectory" + - "head_controller/point_head" + - "torso_controller/follow_joint_trajectory" + - "gripper_controller/gripper_action" + - "bellows_controller" + l_wheel_joint: + position: + p: 0.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 8.85 + d: 0.0 + i: 0.5 + i_clamp: 6.0 + r_wheel_joint: + position: + p: 0.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 8.85 + d: 0.0 + i: 0.5 + i_clamp: 6.0 + torso_lift_joint: + position: + p: 1000.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 100000.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + bellows_joint: + position: + p: 10.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 25.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + head_pan_joint: + position: + p: 2.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 2.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + head_tilt_joint: + position: + p: 10.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 3.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + shoulder_pan_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 200.0 + d: 0.0 + i: 2.0 + i_clamp: 1.0 + shoulder_lift_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 200.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + upperarm_roll_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 10.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + elbow_flex_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 150.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + forearm_roll_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 150.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + wrist_flex_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 100.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + wrist_roll_joint: + position: + p: 100.0 + d: 0.1 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 100.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + l_gripper_finger_joint: + position: + p: 5000.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 0.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + r_gripper_finger_joint: + position: + p: 5000.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 + velocity: + p: 0.0 + d: 0.0 + i: 0.0 + i_clamp: 0.0 \ No newline at end of file diff --git a/resources/config/simulation/fetch/laserfilter_config.yaml b/resources/config/simulation/fetch/laserfilter_config.yaml new file mode 100644 index 0000000..6cbfd20 --- /dev/null +++ b/resources/config/simulation/fetch/laserfilter_config.yaml @@ -0,0 +1,10 @@ +# http://wiki.ros.org/laser_filters#LaserScanRangeFilter +scan_filter_chain: +- name: range + type: laser_filters/LaserScanRangeFilter + params: + use_message_range_limits: false + lower_threshold: 0.1 + upper_threshold: .inf + lower_replacement_value: 0.1 + upper_replacement_value: 10.0 diff --git a/resources/config/simulation/fetch/navigation/2d/base_local_planner_params.yaml b/resources/config/simulation/fetch/navigation/2d/base_local_planner_params.yaml new file mode 100644 index 0000000..cca0df3 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/2d/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.6 #safe speed for fetch to travel at + min_vel_x: 0 + max_trans_vel: 0.6 + min_trans_vel: 0.1 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 1.5 + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 0.7 + acc_lim_y: 0 #diff drive + acc_limit_trans: 0.7 + acc_lim_theta: 4 + + #forward sim params + sim_time: 1.1 + vx_samples: 5 + vy_samples: 0 #diff drive + vth_samples: 15 + + #scoring params + path_distance_bias: 80 + goal_distance_bias: 60 + occdist_scale: 1.4 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/simulation/fetch/navigation/2d/costmap_common_params.yaml b/resources/config/simulation/fetch/navigation/2d/costmap_common_params.yaml new file mode 100644 index 0000000..9a658c5 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/2d/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /base_scan, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/simulation/fetch/navigation/2d/global_costmap_params.yaml b/resources/config/simulation/fetch/navigation/2d/global_costmap_params.yaml new file mode 100644 index 0000000..ca15b85 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/2d/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 0.5 + static_map: + map_topic: /map + + diff --git a/resources/config/simulation/fetch/navigation/2d/global_planner_params.yaml b/resources/config/simulation/fetch/navigation/2d/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/2d/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/simulation/fetch/navigation/2d/local_costmap_params.yaml b/resources/config/simulation/fetch/navigation/2d/local_costmap_params.yaml new file mode 100644 index 0000000..9dd6de2 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/2d/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/simulation/fetch/navigation/2d_unknown/base_local_planner_params.yaml b/resources/config/simulation/fetch/navigation/2d_unknown/base_local_planner_params.yaml new file mode 100644 index 0000000..cca0df3 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/2d_unknown/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.6 #safe speed for fetch to travel at + min_vel_x: 0 + max_trans_vel: 0.6 + min_trans_vel: 0.1 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 1.5 + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 0.7 + acc_lim_y: 0 #diff drive + acc_limit_trans: 0.7 + acc_lim_theta: 4 + + #forward sim params + sim_time: 1.1 + vx_samples: 5 + vy_samples: 0 #diff drive + vth_samples: 15 + + #scoring params + path_distance_bias: 80 + goal_distance_bias: 60 + occdist_scale: 1.4 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/simulation/fetch/navigation/2d_unknown/costmap_common_params.yaml b/resources/config/simulation/fetch/navigation/2d_unknown/costmap_common_params.yaml new file mode 100644 index 0000000..9a658c5 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/2d_unknown/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /base_scan, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/simulation/fetch/navigation/2d_unknown/global_costmap_params.yaml b/resources/config/simulation/fetch/navigation/2d_unknown/global_costmap_params.yaml new file mode 100644 index 0000000..411eb66 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/2d_unknown/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 0.0 + static_map: false + rolling_window: true + width: 500.0 + height: 500.0 + resolution: 0.1 diff --git a/resources/config/simulation/fetch/navigation/2d_unknown/global_planner_params.yaml b/resources/config/simulation/fetch/navigation/2d_unknown/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/2d_unknown/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/simulation/fetch/navigation/2d_unknown/local_costmap_params.yaml b/resources/config/simulation/fetch/navigation/2d_unknown/local_costmap_params.yaml new file mode 100644 index 0000000..9dd6de2 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/2d_unknown/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/simulation/fetch/navigation/3d/base_local_planner_params.yaml b/resources/config/simulation/fetch/navigation/3d/base_local_planner_params.yaml new file mode 100644 index 0000000..e5f551e --- /dev/null +++ b/resources/config/simulation/fetch/navigation/3d/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.6 #safe speed for fetch to travel at + min_vel_x: 0 + max_trans_vel: 0.6 + min_trans_vel: 0.1 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 1.5 + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 0.7 + acc_lim_y: 0 #diff drive + acc_limit_trans: 0.7 + acc_lim_theta: 4 + + #forward sim params + sim_time: 1.1 + vx_samples: 5 + vy_samples: 0 #diff drive + vth_samples: 15 + + #scoring params + path_distance_bias: 80 + goal_distance_bias: 60 + occdist_scale: 1.4 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true \ No newline at end of file diff --git a/resources/config/simulation/fetch/navigation/3d/costmap_common_params.yaml b/resources/config/simulation/fetch/navigation/3d/costmap_common_params.yaml new file mode 100644 index 0000000..da76703 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/3d/costmap_common_params.yaml @@ -0,0 +1,73 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +3d_obstacles: + enabled: true + voxel_decay: 15 #seconds if linear, e^n if exponential + decay_model: 0 #0=linear, 1=exponential, -1=persistent + voxel_size: 0.05 #meters + track_unknown_space: true #default space is unknown + observation_persistence: 0.0 #seconds + unknown_threshold: 15 #voxel height + mark_threshold: 0 #voxel height + update_footprint_enabled: true + combination_method: 1 #1=max, 0=override + + origin_z: 0.0 #meters + publish_voxel_map: off # default off + transform_tolerance: 0.4 + mapping_mode: false # default off, saves map not for navigation + map_save_duration: 60 #default 60s, how often to autosave + observation_sources: positive_obstacle negative_obstacle + positive_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /head_camera/depth_downsample/points_filtered + marking: true + clearing: true + min_obstacle_height: 0.05 #default 0, meters + #robot config defines max height here + min_z: -0.1 + max_z: 6 + vertical_fov_angle: 0.785398 #default 0.7, radians + horizontal_fov_angle: 0.942478 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + negative_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /head_camera/depth_downsample/points_filtered + marking: true + clearing: false + min_obstacle_height: -5 #default 0, meters + max_obstacle_height: -0.2 + min_z: -6 + max_z: 0.1 + vertical_fov_angle: 0.785398 #default 0.7, radians + horizontal_fov_angle: 0.942478 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /base_scan, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/simulation/fetch/navigation/3d/global_costmap_params.yaml b/resources/config/simulation/fetch/navigation/3d/global_costmap_params.yaml new file mode 100644 index 0000000..c6c5ff5 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/3d/global_costmap_params.yaml @@ -0,0 +1,19 @@ +global_costmap: + plugins: + - {name: static_map_3d_negative, type: "costmap_2d::StaticLayer"} + - {name: static_map_3d_positive, type: "costmap_2d::StaticLayer"} + - {name: static_map_2d, type: "costmap_2d::StaticLayer"} + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 0.5 + static_map_2d: + map_topic: /map + static_map_3d_positive: + map_topic: /projected_map + static_map_3d_negative: + map_topic: /projected_map_negative + diff --git a/resources/config/simulation/fetch/navigation/3d/global_planner_params.yaml b/resources/config/simulation/fetch/navigation/3d/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/3d/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/simulation/fetch/navigation/3d/local_costmap_params.yaml b/resources/config/simulation/fetch/navigation/3d/local_costmap_params.yaml new file mode 100644 index 0000000..83896b2 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/3d/local_costmap_params.yaml @@ -0,0 +1,13 @@ +local_costmap: + plugins: + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/simulation/fetch/navigation/3d_unknown/base_local_planner_params.yaml b/resources/config/simulation/fetch/navigation/3d_unknown/base_local_planner_params.yaml new file mode 100644 index 0000000..e5f551e --- /dev/null +++ b/resources/config/simulation/fetch/navigation/3d_unknown/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.6 #safe speed for fetch to travel at + min_vel_x: 0 + max_trans_vel: 0.6 + min_trans_vel: 0.1 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 1.5 + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 0.7 + acc_lim_y: 0 #diff drive + acc_limit_trans: 0.7 + acc_lim_theta: 4 + + #forward sim params + sim_time: 1.1 + vx_samples: 5 + vy_samples: 0 #diff drive + vth_samples: 15 + + #scoring params + path_distance_bias: 80 + goal_distance_bias: 60 + occdist_scale: 1.4 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true \ No newline at end of file diff --git a/resources/config/simulation/fetch/navigation/3d_unknown/costmap_common_params.yaml b/resources/config/simulation/fetch/navigation/3d_unknown/costmap_common_params.yaml new file mode 100644 index 0000000..2ed5082 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/3d_unknown/costmap_common_params.yaml @@ -0,0 +1,73 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +3d_obstacles: + enabled: true + voxel_decay: 15 #seconds if linear, e^n if exponential + decay_model: 0 #0=linear, 1=exponential, -1=persistent + voxel_size: 0.05 #meters + track_unknown_space: true #default space is unknown + observation_persistence: 0.0 #seconds + unknown_threshold: 15 #voxel height + mark_threshold: 0 #voxel height + update_footprint_enabled: true + combination_method: 1 #1=max, 0=override + + origin_z: 0.0 #meters + publish_voxel_map: true # default off + transform_tolerance: 0.4 + mapping_mode: false # default off, saves map not for navigation + map_save_duration: 60 #default 60s, how often to autosave + observation_sources: positive_obstacle negative_obstacle + positive_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /head_camera/depth_downsample/points_filtered + marking: true + clearing: true + min_obstacle_height: 0.05 #default 0, meters + #robot config defines max height here + min_z: -0.1 + max_z: 6 + vertical_fov_angle: 0.7 #default 0.7, radians + horizontal_fov_angle: 1.04 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + negative_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /head_camera/depth_downsample/points_filtered + marking: true + clearing: false + min_obstacle_height: -5 #default 0, meters + max_obstacle_height: -0.2 + min_z: -6 + max_z: 0.1 + vertical_fov_angle: 0.785398 #default 0.7, radians + horizontal_fov_angle: 0.942478 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /base_scan, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/simulation/fetch/navigation/3d_unknown/global_costmap_params.yaml b/resources/config/simulation/fetch/navigation/3d_unknown/global_costmap_params.yaml new file mode 100644 index 0000000..c0ffab0 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/3d_unknown/global_costmap_params.yaml @@ -0,0 +1,15 @@ +global_costmap: + plugins: + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 0.0 + static_map: false + rolling_window: true + width: 500.0 + height: 500.0 + resolution: 0.1 + diff --git a/resources/config/simulation/fetch/navigation/3d_unknown/global_planner_params.yaml b/resources/config/simulation/fetch/navigation/3d_unknown/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/3d_unknown/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/simulation/fetch/navigation/3d_unknown/local_costmap_params.yaml b/resources/config/simulation/fetch/navigation/3d_unknown/local_costmap_params.yaml new file mode 100644 index 0000000..83896b2 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/3d_unknown/local_costmap_params.yaml @@ -0,0 +1,13 @@ +local_costmap: + plugins: + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/simulation/fetch/navigation/original/base_local_planner_params.yaml b/resources/config/simulation/fetch/navigation/original/base_local_planner_params.yaml new file mode 100644 index 0000000..6edd6a6 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/original/base_local_planner_params.yaml @@ -0,0 +1,17 @@ +base_local_planner: base_local_planner/TrajectoryPlannerROS +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/simulation/fetch/navigation/original/costmap_common_params.yaml b/resources/config/simulation/fetch/navigation/original/costmap_common_params.yaml new file mode 100644 index 0000000..6753c97 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/original/costmap_common_params.yaml @@ -0,0 +1,18 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, sensor_frame: pioneer/hokuyo_front_link, topic: /pioneer/frontscan_filtered, marking: true, clearing: true, expected_update_rate: 0.2} diff --git a/resources/config/simulation/fetch/navigation/original/global_costmap_params.yaml b/resources/config/simulation/fetch/navigation/original/global_costmap_params.yaml new file mode 100644 index 0000000..0fc5e23 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/original/global_costmap_params.yaml @@ -0,0 +1,11 @@ +global_costmap: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: + map_topic: /map diff --git a/resources/config/simulation/fetch/navigation/original/global_planner_params.yaml b/resources/config/simulation/fetch/navigation/original/global_planner_params.yaml new file mode 100644 index 0000000..2633750 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/original/global_planner_params.yaml @@ -0,0 +1,9 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + cost_factor: 0.55 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: true + default_tolerance: 0.2 \ No newline at end of file diff --git a/resources/config/simulation/fetch/navigation/original/local_costmap_params.yaml b/resources/config/simulation/fetch/navigation/original/local_costmap_params.yaml new file mode 100644 index 0000000..cf0b822 --- /dev/null +++ b/resources/config/simulation/fetch/navigation/original/local_costmap_params.yaml @@ -0,0 +1,13 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: pioneer/odom + robot_base_frame: pioneer/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/simulation/fetch/pc_to_laser_config.yaml b/resources/config/simulation/fetch/pc_to_laser_config.yaml new file mode 100644 index 0000000..ddad1eb --- /dev/null +++ b/resources/config/simulation/fetch/pc_to_laser_config.yaml @@ -0,0 +1,9 @@ +#Physical parameters for the kinect +angle_min: -0.4974188 +angle_max: 0.4974188 +angle_increment: 0.00349066 +range_min: 0.6 +range_max: 4 +min_height: 0 +max_height: 1 +scan_time: 0.066666667 \ No newline at end of file diff --git a/resources/config/simulation/fetch/robot_dimensions.yaml b/resources/config/simulation/fetch/robot_dimensions.yaml new file mode 100644 index 0000000..74c9a18 --- /dev/null +++ b/resources/config/simulation/fetch/robot_dimensions.yaml @@ -0,0 +1,2 @@ +#Define some dimensions of the robot for filtering octomaps +occupancy_max_z: 1.5 # meters diff --git a/resources/config/simulation/mir/config.rviz b/resources/config/simulation/mir/config.rviz new file mode 100644 index 0000000..1b789bb --- /dev/null +++ b/resources/config/simulation/mir/config.rviz @@ -0,0 +1,523 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Local Costmap1/Position1 + - /LaserScan1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map (map_server) + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Map (octomap) + Topic: /projected_map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: false + Name: Map (negative_octomap) + Topic: /projected_map_negative + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.5 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.300000012 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Angle Tolerance: 0.100000001 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 50 + Name: Odometry + Position Tolerance: 0.100000001 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Color: 255; 25; 0 + Head Length: 0.300000012 + Head Radius: 0.100000001 + Shaft Length: 0.25 + Shaft Radius: 0.0500000007 + Value: Arrow + Topic: /mobile_base_controller/odom + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Pose CurrentGoal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /move_base/current_goal + Unreliable: false + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Global Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/GlobalPlanner/plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 42; 5; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Scope Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Local Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Robot Footprint + Topic: /move_base/global_costmap/footprint + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + surface: + Alpha: 1 + Show Axes: false + Show Trail: false + us_1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + us_2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: mir/robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 8.14708233 + Min Value: -0.663921654 + Value: true + Axis: X + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: 8.40779079e-45 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0500000007 + Style: Spheres + Topic: /scan_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /head_camera/depth_downsample/points_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: octomap_rviz_plugin/OccupancyGrid + Enabled: false + Max. Height Display: 3.40282347e+38 + Max. Octree Depth: 16 + Min. Height Display: -3.40282347e+38 + Name: Octomap + Octomap Topic: /octomap_binary + Queue Size: 5 + Value: false + Voxel Alpha: 1 + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: amcl/initialpose + - Class: rviz/SetGoal + Topic: move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 18.3799992 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 1.20979714 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 3.21354604 + Saved: + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Top Down + Near Clip Distance: 0.00999999978 + Scale: 20 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/ThirdPersonFollower + Distance: 7.52257919 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Follower + Near Clip Distance: 0.00999999978 + Pitch: 0.490398467 + Target Frame: pioneer/base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.18539834 + - Class: rviz/XYOrbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Orbit + Near Clip Distance: 0.00999999978 + Pitch: 0.595398366 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 4.12540293 +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df000002af000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1855 + X: 65 + Y: 24 diff --git a/resources/config/simulation/mir/costmap_height.yaml b/resources/config/simulation/mir/costmap_height.yaml new file mode 100644 index 0000000..238f3e3 --- /dev/null +++ b/resources/config/simulation/mir/costmap_height.yaml @@ -0,0 +1,3 @@ +3d_obstacles: + positive_obstacle: + max_obstacle_height: 1.5 \ No newline at end of file diff --git a/resources/config/simulation/mir/diffdrive_controller.yaml b/resources/config/simulation/mir/diffdrive_controller.yaml new file mode 100644 index 0000000..098975b --- /dev/null +++ b/resources/config/simulation/mir/diffdrive_controller.yaml @@ -0,0 +1,42 @@ +# ----------------------------------- +mobile_base_controller: + type : "diff_drive_controller/DiffDriveController" + left_wheel : '$(arg prefix)left_wheel_joint' + right_wheel : '$(arg prefix)right_wheel_joint' + publish_rate: 41.2 # this is what the real MiR platform publishes (default: 50) + # These covariances are exactly what the real MiR platform publishes + pose_covariance_diagonal : [0.00001, 0.00001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + twist_covariance_diagonal: [0.1, 0.1, 1000000.0, 1000000.0, 1000000.0, 1000.0] + enable_odom_tf: true + + # Wheel separation and diameter. These are both optional. + # diff_drive_controller will attempt to read either one or both from the + # URDF if not specified as a parameter + wheel_separation : 0.445208 + wheel_radius : 0.0625 + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 0.5 + + # frame_ids (same as real MiR platform) + base_frame_id: $(arg prefix)base_footprint # default: base_link + odom_frame_id: $(arg prefix)odom # default: odom + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : true + max_velocity : 1.0 # m/s; move_base max_vel_x: 0.8 + has_acceleration_limits: true + max_acceleration : 2.0 # m/s^2; move_base acc_lim_x: 1.5 + angular: + z: + has_velocity_limits : true + max_velocity : 1.5 # rad/s; move_base max_rot_vel: 1.0 + has_acceleration_limits: true + max_acceleration : 2.5 # rad/s^2; move_base acc_lim_th: 2.0 diff --git a/resources/config/simulation/mir/joint_state_controller.yaml b/resources/config/simulation/mir/joint_state_controller.yaml new file mode 100644 index 0000000..2487d71 --- /dev/null +++ b/resources/config/simulation/mir/joint_state_controller.yaml @@ -0,0 +1,4 @@ +# Publish all joint states ----------------------------------- +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 diff --git a/resources/config/simulation/mir/laserfilter_config.yaml b/resources/config/simulation/mir/laserfilter_config.yaml new file mode 100644 index 0000000..6cbfd20 --- /dev/null +++ b/resources/config/simulation/mir/laserfilter_config.yaml @@ -0,0 +1,10 @@ +# http://wiki.ros.org/laser_filters#LaserScanRangeFilter +scan_filter_chain: +- name: range + type: laser_filters/LaserScanRangeFilter + params: + use_message_range_limits: false + lower_threshold: 0.1 + upper_threshold: .inf + lower_replacement_value: 0.1 + upper_replacement_value: 10.0 diff --git a/resources/config/simulation/mir/navigation/2d/base_local_planner_params.yaml b/resources/config/simulation/mir/navigation/2d/base_local_planner_params.yaml new file mode 100644 index 0000000..cca0df3 --- /dev/null +++ b/resources/config/simulation/mir/navigation/2d/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.6 #safe speed for fetch to travel at + min_vel_x: 0 + max_trans_vel: 0.6 + min_trans_vel: 0.1 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 1.5 + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 0.7 + acc_lim_y: 0 #diff drive + acc_limit_trans: 0.7 + acc_lim_theta: 4 + + #forward sim params + sim_time: 1.1 + vx_samples: 5 + vy_samples: 0 #diff drive + vth_samples: 15 + + #scoring params + path_distance_bias: 80 + goal_distance_bias: 60 + occdist_scale: 1.4 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/simulation/mir/navigation/2d/costmap_common_params.yaml b/resources/config/simulation/mir/navigation/2d/costmap_common_params.yaml new file mode 100644 index 0000000..93fdcfb --- /dev/null +++ b/resources/config/simulation/mir/navigation/2d/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /scan_filtered, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/simulation/mir/navigation/2d/global_costmap_params.yaml b/resources/config/simulation/mir/navigation/2d/global_costmap_params.yaml new file mode 100644 index 0000000..ca15b85 --- /dev/null +++ b/resources/config/simulation/mir/navigation/2d/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 0.5 + static_map: + map_topic: /map + + diff --git a/resources/config/simulation/mir/navigation/2d/global_planner_params.yaml b/resources/config/simulation/mir/navigation/2d/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/simulation/mir/navigation/2d/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/simulation/mir/navigation/2d/local_costmap_params.yaml b/resources/config/simulation/mir/navigation/2d/local_costmap_params.yaml new file mode 100644 index 0000000..9dd6de2 --- /dev/null +++ b/resources/config/simulation/mir/navigation/2d/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/simulation/mir/navigation/2d_unknown/base_local_planner_params.yaml b/resources/config/simulation/mir/navigation/2d_unknown/base_local_planner_params.yaml new file mode 100644 index 0000000..cca0df3 --- /dev/null +++ b/resources/config/simulation/mir/navigation/2d_unknown/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.6 #safe speed for fetch to travel at + min_vel_x: 0 + max_trans_vel: 0.6 + min_trans_vel: 0.1 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 1.5 + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 0.7 + acc_lim_y: 0 #diff drive + acc_limit_trans: 0.7 + acc_lim_theta: 4 + + #forward sim params + sim_time: 1.1 + vx_samples: 5 + vy_samples: 0 #diff drive + vth_samples: 15 + + #scoring params + path_distance_bias: 80 + goal_distance_bias: 60 + occdist_scale: 1.4 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/simulation/mir/navigation/2d_unknown/costmap_common_params.yaml b/resources/config/simulation/mir/navigation/2d_unknown/costmap_common_params.yaml new file mode 100644 index 0000000..93fdcfb --- /dev/null +++ b/resources/config/simulation/mir/navigation/2d_unknown/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /scan_filtered, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/simulation/mir/navigation/2d_unknown/global_costmap_params.yaml b/resources/config/simulation/mir/navigation/2d_unknown/global_costmap_params.yaml new file mode 100644 index 0000000..411eb66 --- /dev/null +++ b/resources/config/simulation/mir/navigation/2d_unknown/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 0.0 + static_map: false + rolling_window: true + width: 500.0 + height: 500.0 + resolution: 0.1 diff --git a/resources/config/simulation/mir/navigation/2d_unknown/global_planner_params.yaml b/resources/config/simulation/mir/navigation/2d_unknown/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/simulation/mir/navigation/2d_unknown/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/simulation/mir/navigation/2d_unknown/local_costmap_params.yaml b/resources/config/simulation/mir/navigation/2d_unknown/local_costmap_params.yaml new file mode 100644 index 0000000..9dd6de2 --- /dev/null +++ b/resources/config/simulation/mir/navigation/2d_unknown/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/simulation/mir/navigation/original/base_local_planner_params.yaml b/resources/config/simulation/mir/navigation/original/base_local_planner_params.yaml new file mode 100644 index 0000000..6edd6a6 --- /dev/null +++ b/resources/config/simulation/mir/navigation/original/base_local_planner_params.yaml @@ -0,0 +1,17 @@ +base_local_planner: base_local_planner/TrajectoryPlannerROS +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/simulation/mir/navigation/original/costmap_common_params.yaml b/resources/config/simulation/mir/navigation/original/costmap_common_params.yaml new file mode 100644 index 0000000..6753c97 --- /dev/null +++ b/resources/config/simulation/mir/navigation/original/costmap_common_params.yaml @@ -0,0 +1,18 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, sensor_frame: pioneer/hokuyo_front_link, topic: /pioneer/frontscan_filtered, marking: true, clearing: true, expected_update_rate: 0.2} diff --git a/resources/config/simulation/mir/navigation/original/global_costmap_params.yaml b/resources/config/simulation/mir/navigation/original/global_costmap_params.yaml new file mode 100644 index 0000000..0fc5e23 --- /dev/null +++ b/resources/config/simulation/mir/navigation/original/global_costmap_params.yaml @@ -0,0 +1,11 @@ +global_costmap: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: + map_topic: /map diff --git a/resources/config/simulation/mir/navigation/original/global_planner_params.yaml b/resources/config/simulation/mir/navigation/original/global_planner_params.yaml new file mode 100644 index 0000000..2633750 --- /dev/null +++ b/resources/config/simulation/mir/navigation/original/global_planner_params.yaml @@ -0,0 +1,9 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + cost_factor: 0.55 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: true + default_tolerance: 0.2 \ No newline at end of file diff --git a/resources/config/simulation/mir/navigation/original/local_costmap_params.yaml b/resources/config/simulation/mir/navigation/original/local_costmap_params.yaml new file mode 100644 index 0000000..cf0b822 --- /dev/null +++ b/resources/config/simulation/mir/navigation/original/local_costmap_params.yaml @@ -0,0 +1,13 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: pioneer/odom + robot_base_frame: pioneer/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/simulation/mir/pc_to_laser_config.yaml b/resources/config/simulation/mir/pc_to_laser_config.yaml new file mode 100644 index 0000000..ddad1eb --- /dev/null +++ b/resources/config/simulation/mir/pc_to_laser_config.yaml @@ -0,0 +1,9 @@ +#Physical parameters for the kinect +angle_min: -0.4974188 +angle_max: 0.4974188 +angle_increment: 0.00349066 +range_min: 0.6 +range_max: 4 +min_height: 0 +max_height: 1 +scan_time: 0.066666667 \ No newline at end of file diff --git a/resources/config/simulation/mir/robot_dimensions.yaml b/resources/config/simulation/mir/robot_dimensions.yaml new file mode 100644 index 0000000..74c9a18 --- /dev/null +++ b/resources/config/simulation/mir/robot_dimensions.yaml @@ -0,0 +1,2 @@ +#Define some dimensions of the robot for filtering octomaps +occupancy_max_z: 1.5 # meters diff --git a/resources/config/simulation/obsbot_mbf/base_local_planner_params.yaml b/resources/config/simulation/obsbot_mbf/base_local_planner_params.yaml new file mode 100644 index 0000000..0c2eff7 --- /dev/null +++ b/resources/config/simulation/obsbot_mbf/base_local_planner_params.yaml @@ -0,0 +1,20 @@ +controllers: + - name: 'TrajectoryPlannerROS' + type: 'base_local_planner/TrajectoryPlannerROS' + +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/simulation/obsbot_mbf/controllers.yaml b/resources/config/simulation/obsbot_mbf/controllers.yaml new file mode 100644 index 0000000..3737dcf --- /dev/null +++ b/resources/config/simulation/obsbot_mbf/controllers.yaml @@ -0,0 +1,20 @@ +controllers: + - name: 'TrajectoryPlannerROS' + type: 'base_local_planner/TrajectoryPlannerROS' + +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false diff --git a/resources/config/simulation/obsbot_mbf/costmap_common_params.yaml b/resources/config/simulation/obsbot_mbf/costmap_common_params.yaml new file mode 100644 index 0000000..90af40b --- /dev/null +++ b/resources/config/simulation/obsbot_mbf/costmap_common_params.yaml @@ -0,0 +1,20 @@ +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: obs_bot/scan_link, data_type: LaserScan, topic: /obs_bot/scan, marking: true, clearing: true, expected_update_rate: 0.2} + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/simulation/obsbot_mbf/global_costmap_params.yaml b/resources/config/simulation/obsbot_mbf/global_costmap_params.yaml new file mode 100644 index 0000000..3e7351c --- /dev/null +++ b/resources/config/simulation/obsbot_mbf/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: obs_bot/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/simulation/obsbot_mbf/local_costmap_params.yaml b/resources/config/simulation/obsbot_mbf/local_costmap_params.yaml new file mode 100644 index 0000000..51a948d --- /dev/null +++ b/resources/config/simulation/obsbot_mbf/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: obs_bot/odom + robot_base_frame: obs_bot/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/simulation/obsbot_mbf/planners.yaml b/resources/config/simulation/obsbot_mbf/planners.yaml new file mode 100644 index 0000000..3086ab9 --- /dev/null +++ b/resources/config/simulation/obsbot_mbf/planners.yaml @@ -0,0 +1,16 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 + diff --git a/resources/config/simulation/obsbot_mbf/recovery_behaviors.yaml b/resources/config/simulation/obsbot_mbf/recovery_behaviors.yaml new file mode 100644 index 0000000..99e917a --- /dev/null +++ b/resources/config/simulation/obsbot_mbf/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' +# - name: 'moveback_recovery' +# type: 'moveback_recovery/MoveBackRecovery' + +# moveback_recovery: +# linear_vel_back: -0.1 # default -0.3 +# step_back_length: 0.3 # default 1.0 +# step_back_timeout: 5.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/simulation/obstacle_bot/config.rviz b/resources/config/simulation/obstacle_bot/config.rviz new file mode 100644 index 0000000..8b118ed --- /dev/null +++ b/resources/config/simulation/obstacle_bot/config.rviz @@ -0,0 +1,511 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Local Costmap1/Position1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map (map_server) + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Map (octomap) + Topic: /projected_map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: false + Name: Map (negative_octomap) + Topic: /projected_map_negative + Unreliable: false + Use Timestamp: false + Value: false + - Class: octomap_rviz_plugin/OccupancyGrid + Enabled: true + Max. Height Display: 3.40282347e+38 + Max. Octree Depth: 16 + Min. Height Display: -3.40282347e+38 + Name: Octomap + Octomap Topic: /octomap_binary + Queue Size: 5 + Value: true + Voxel Alpha: 1 + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + - Alpha: 0.5 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Global Costmap + Topic: /pioneer/move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.300000012 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: false + Name: Local Costmap + Topic: /pioneer/move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: false + - Angle Tolerance: 0.100000001 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: false + Keep: 50 + Name: Odometry + Position Tolerance: 0.100000001 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Color: 255; 25; 0 + Head Length: 0.300000012 + Head Radius: 0.100000001 + Shaft Length: 0.25 + Shaft Radius: 0.0500000007 + Value: Arrow + Topic: odom + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: false + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Pose CurrentGoal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /move_base/current_goal + Unreliable: false + Value: false + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: false + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Global Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/GlobalPlanner/plan + Unreliable: false + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 42; 5; 255 + Enabled: false + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Scope Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 255 + Enabled: false + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Local Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Robot Footprint + Topic: /move_base/local_costmap/footprint + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_sonar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_sonar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hokuyo_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kinect_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kinect_sensor_link: + Alpha: 1 + Show Axes: false + Show Trail: false + kinect_stand_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_left_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_right_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + swivel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top_plate: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + weight_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: pioneer/robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 8.14708233 + Min Value: -0.663921654 + Value: true + Axis: X + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: 8.40779079e-45 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0500000007 + Style: Spheres + Topic: /frontscan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /kinect/depth/points_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: amcl/initialpose + - Class: rviz/SetGoal + Topic: move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/ThirdPersonFollower + Distance: 11.0552902 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.0145996809 + Y: -1.06108999 + Z: 1.91491881e-06 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 1.03479707 + Target Frame: pioneer/base_link + Value: ThirdPersonFollower (rviz) + Yaw: 4.7303462 + Saved: + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Top Down + Near Clip Distance: 0.00999999978 + Scale: 20 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/ThirdPersonFollower + Distance: 7.52257919 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Follower + Near Clip Distance: 0.00999999978 + Pitch: 0.490398467 + Target Frame: pioneer/base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.18539834 + - Class: rviz/XYOrbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Orbit + Near Clip Distance: 0.00999999978 + Pitch: 0.595398366 + Target Frame: pioneer/base_link + Value: XYOrbit (rviz) + Yaw: 4.12540293 +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1855 + X: 65 + Y: 24 diff --git a/resources/config/simulation/obstacle_bot/costmap_height.yaml b/resources/config/simulation/obstacle_bot/costmap_height.yaml new file mode 100644 index 0000000..c7f0b55 --- /dev/null +++ b/resources/config/simulation/obstacle_bot/costmap_height.yaml @@ -0,0 +1,2 @@ +3d_obstacles: + max_obstacle_height: 0.4 #meters \ No newline at end of file diff --git a/resources/config/simulation/obstacle_bot/frontlaser_config.yaml b/resources/config/simulation/obstacle_bot/frontlaser_config.yaml new file mode 100644 index 0000000..8317c7f --- /dev/null +++ b/resources/config/simulation/obstacle_bot/frontlaser_config.yaml @@ -0,0 +1,16 @@ +# Descriptor also modifies the published laser topic. +descriptor: "front" +enabled: true +visualize: true + +#Sensor Positioning: +x: 0.13 # Meters +y: 0.0 # Meters +z: 0.275 # Meters +yaw: 0.0 # Radians + +# Sensor Settings +min_angle: -2.26889 # Radians +max_angle: 2.26889 # Radians +ray_count: 240 +range: 10.0 # Meters diff --git a/resources/config/simulation/obstacle_bot/kinect_config.yaml b/resources/config/simulation/obstacle_bot/kinect_config.yaml new file mode 100644 index 0000000..1039870 --- /dev/null +++ b/resources/config/simulation/obstacle_bot/kinect_config.yaml @@ -0,0 +1,13 @@ +# Descriptor modifies the names of the published topics +descriptor: "kinect" +enabled: true # Try setting true + +#Sensor Positioning: +x: 0.06 # Meters +y: 0.0 # Meters +height: 0.35 # Meters +pan: 0.0 # Radians +tilt: 0.2 # Radians + +#Sensor Settings: +far_clip: 5.0 # Meters diff --git a/resources/config/simulation/obstacle_bot/laserfilter_config.yaml b/resources/config/simulation/obstacle_bot/laserfilter_config.yaml new file mode 100644 index 0000000..6cbfd20 --- /dev/null +++ b/resources/config/simulation/obstacle_bot/laserfilter_config.yaml @@ -0,0 +1,10 @@ +# http://wiki.ros.org/laser_filters#LaserScanRangeFilter +scan_filter_chain: +- name: range + type: laser_filters/LaserScanRangeFilter + params: + use_message_range_limits: false + lower_threshold: 0.1 + upper_threshold: .inf + lower_replacement_value: 0.1 + upper_replacement_value: 10.0 diff --git a/resources/config/simulation/obstacle_bot/navigation/2d/base_local_planner_params.yaml b/resources/config/simulation/obstacle_bot/navigation/2d/base_local_planner_params.yaml new file mode 100644 index 0000000..4f70f93 --- /dev/null +++ b/resources/config/simulation/obstacle_bot/navigation/2d/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/simulation/obstacle_bot/navigation/2d/controllers.yaml b/resources/config/simulation/obstacle_bot/navigation/2d/controllers.yaml new file mode 100644 index 0000000..1a42b4e --- /dev/null +++ b/resources/config/simulation/obstacle_bot/navigation/2d/controllers.yaml @@ -0,0 +1,81 @@ +controllers: + - name: 'DWAPlannerROS' + type: 'dwa_local_planner/DWAPlannerROS' + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/simulation/obstacle_bot/navigation/2d/costmap_common_params.yaml b/resources/config/simulation/obstacle_bot/navigation/2d/costmap_common_params.yaml new file mode 100644 index 0000000..2370cbb --- /dev/null +++ b/resources/config/simulation/obstacle_bot/navigation/2d/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /obstacle_bot/scan, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/simulation/obstacle_bot/navigation/2d/global_costmap_params.yaml b/resources/config/simulation/obstacle_bot/navigation/2d/global_costmap_params.yaml new file mode 100644 index 0000000..ad1bd76 --- /dev/null +++ b/resources/config/simulation/obstacle_bot/navigation/2d/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: obstacle_bot_base_footprint + update_frequency: 10.0 + publish_frequency: 0.5 + static_map: + map_topic: /map + + diff --git a/resources/config/simulation/obstacle_bot/navigation/2d/global_planner_params.yaml b/resources/config/simulation/obstacle_bot/navigation/2d/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/simulation/obstacle_bot/navigation/2d/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/simulation/obstacle_bot/navigation/2d/local_costmap_params.yaml b/resources/config/simulation/obstacle_bot/navigation/2d/local_costmap_params.yaml new file mode 100644 index 0000000..53f636f --- /dev/null +++ b/resources/config/simulation/obstacle_bot/navigation/2d/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: obstacle_bot_odom + robot_base_frame: obstacle_bot_base_footprint + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/simulation/obstacle_bot/navigation/2d/planners.yaml b/resources/config/simulation/obstacle_bot/navigation/2d/planners.yaml new file mode 100644 index 0000000..55a8eaa --- /dev/null +++ b/resources/config/simulation/obstacle_bot/navigation/2d/planners.yaml @@ -0,0 +1,29 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' + - name: 'SBPLLatticePlanner' + type: 'SBPLLatticePlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 +SBPLLatticePlanner: + planner_type: 'ARAPlanner' + allocated_time: 20.0 # default: 10.0 + initial_epsilon: 3.0 + environment_type: 'XYThetaLattice' # The only environment supported + forward_search: true # default is false + # NOTE: param 'primitive_filename'. This needs to be set to the path to 'ceres_navigation/mprim/ceres_5cm.mprim' + # You may put it in the mprim.yaml file, which is ignored by git, so everybody can setup his own path. + nominalvel_mpersecs: 0.7 + timetoturn45degsinplace_secs: 0.6 + lethal_obstacle: 250 + diff --git a/resources/config/simulation/obstacle_bot/navigation/2d/recovery_behaviors.yaml b/resources/config/simulation/obstacle_bot/navigation/2d/recovery_behaviors.yaml new file mode 100644 index 0000000..81e8114 --- /dev/null +++ b/resources/config/simulation/obstacle_bot/navigation/2d/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'moveback_recovery' + type: 'moveback_recovery/MoveBackRecovery' + +moveback_recovery: + linear_vel_back: -0.1 # default -0.3 + step_back_length: 0.3 # default 1.0 + step_back_timeout: 5.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/simulation/obstacle_bot/pc_to_laser_config.yaml b/resources/config/simulation/obstacle_bot/pc_to_laser_config.yaml new file mode 100644 index 0000000..ddad1eb --- /dev/null +++ b/resources/config/simulation/obstacle_bot/pc_to_laser_config.yaml @@ -0,0 +1,9 @@ +#Physical parameters for the kinect +angle_min: -0.4974188 +angle_max: 0.4974188 +angle_increment: 0.00349066 +range_min: 0.6 +range_max: 4 +min_height: 0 +max_height: 1 +scan_time: 0.066666667 \ No newline at end of file diff --git a/resources/config/simulation/obstacle_bot/rearlaser_config.yaml b/resources/config/simulation/obstacle_bot/rearlaser_config.yaml new file mode 100644 index 0000000..c5c5ea4 --- /dev/null +++ b/resources/config/simulation/obstacle_bot/rearlaser_config.yaml @@ -0,0 +1,16 @@ +# Descriptor also modifies the published laser topic. +descriptor: "rear" +enabled: false # Try setting true +visualize: true + +#Sensor Positioning: +x: -0.23 # Meters +y: 0.0 # Meters +z: 0.275 # Meters +yaw: 3.14 # Radians + +# Sensor Settings +min_angle: -2.26889 # Radians +max_angle: 2.26889 # Radians +ray_count: 240 +range: 10.0 # Meters diff --git a/resources/config/simulation/obstacle_bot/robot_dimensions.yaml b/resources/config/simulation/obstacle_bot/robot_dimensions.yaml new file mode 100644 index 0000000..d896a45 --- /dev/null +++ b/resources/config/simulation/obstacle_bot/robot_dimensions.yaml @@ -0,0 +1,2 @@ +#Define some dimensions of the robot for filtering octomaps +occupancy_max_z: 0.4 # meters diff --git a/resources/config/simulation/pioneer/config.rviz b/resources/config/simulation/pioneer/config.rviz new file mode 100644 index 0000000..d37b886 --- /dev/null +++ b/resources/config/simulation/pioneer/config.rviz @@ -0,0 +1,511 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Local Costmap1/Position1 + Splitter Ratio: 0.5 + Tree Height: 747 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map (map_server) + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Map (octomap) + Topic: /projected_map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: false + Name: Map (negative_octomap) + Topic: /projected_map_negative + Unreliable: false + Use Timestamp: false + Value: false + - Class: octomap_rviz_plugin/OccupancyGrid + Enabled: false + Max. Height Display: 3.40282347e+38 + Max. Octree Depth: 16 + Min. Height Display: -3.40282347e+38 + Name: Octomap + Octomap Topic: /octomap_binary + Queue Size: 5 + Value: false + Voxel Alpha: 1 + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + - Alpha: 0.5 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.300000012 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Angle Tolerance: 0.100000001 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 50 + Name: Odometry + Position Tolerance: 0.100000001 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Color: 255; 25; 0 + Head Length: 0.300000012 + Head Radius: 0.100000001 + Shaft Length: 0.25 + Shaft Radius: 0.0500000007 + Value: Arrow + Topic: odom + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: false + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Pose CurrentGoal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /move_base/current_goal + Unreliable: false + Value: false + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Global Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/GlobalPlanner/plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 42; 5; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Scope Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Local Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Robot Footprint + Topic: /move_base/local_costmap/footprint + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_sonar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_sonar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hokuyo_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kinect_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kinect_sensor_link: + Alpha: 1 + Show Axes: false + Show Trail: false + kinect_stand_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_left_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_right_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + p3dx_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + swivel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top_plate: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + weight_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: pioneer/robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 8.14708233 + Min Value: -0.663921654 + Value: true + Axis: X + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: 8.40779079e-45 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0500000007 + Style: Spheres + Topic: /frontscan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /kinect/depth/points_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: amcl/initialpose + - Class: rviz/SetGoal + Topic: move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/ThirdPersonFollower + Distance: 5.27731943 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.345398545 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.14040804 + Saved: + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Top Down + Near Clip Distance: 0.00999999978 + Scale: 20 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/ThirdPersonFollower + Distance: 7.52257919 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Follower + Near Clip Distance: 0.00999999978 + Pitch: 0.490398467 + Target Frame: pioneer/base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.18539834 + - Class: rviz/XYOrbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Orbit + Near Clip Distance: 0.00999999978 + Pitch: 0.595398366 + Target Frame: pioneer/base_link + Value: XYOrbit (rviz) + Yaw: 4.12540293 +Window Geometry: + Displays: + collapsed: true + Height: 1028 + Hide Left Dock: true + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 928 + X: 992 + Y: 24 diff --git a/resources/config/simulation/pioneer/costmap_height.yaml b/resources/config/simulation/pioneer/costmap_height.yaml new file mode 100644 index 0000000..c7f0b55 --- /dev/null +++ b/resources/config/simulation/pioneer/costmap_height.yaml @@ -0,0 +1,2 @@ +3d_obstacles: + max_obstacle_height: 0.4 #meters \ No newline at end of file diff --git a/resources/config/simulation/pioneer/frontlaser_config.yaml b/resources/config/simulation/pioneer/frontlaser_config.yaml new file mode 100644 index 0000000..8317c7f --- /dev/null +++ b/resources/config/simulation/pioneer/frontlaser_config.yaml @@ -0,0 +1,16 @@ +# Descriptor also modifies the published laser topic. +descriptor: "front" +enabled: true +visualize: true + +#Sensor Positioning: +x: 0.13 # Meters +y: 0.0 # Meters +z: 0.275 # Meters +yaw: 0.0 # Radians + +# Sensor Settings +min_angle: -2.26889 # Radians +max_angle: 2.26889 # Radians +ray_count: 240 +range: 10.0 # Meters diff --git a/resources/config/simulation/pioneer/kinect_config.yaml b/resources/config/simulation/pioneer/kinect_config.yaml new file mode 100644 index 0000000..1039870 --- /dev/null +++ b/resources/config/simulation/pioneer/kinect_config.yaml @@ -0,0 +1,13 @@ +# Descriptor modifies the names of the published topics +descriptor: "kinect" +enabled: true # Try setting true + +#Sensor Positioning: +x: 0.06 # Meters +y: 0.0 # Meters +height: 0.35 # Meters +pan: 0.0 # Radians +tilt: 0.2 # Radians + +#Sensor Settings: +far_clip: 5.0 # Meters diff --git a/resources/config/simulation/pioneer/laserfilter_config.yaml b/resources/config/simulation/pioneer/laserfilter_config.yaml new file mode 100644 index 0000000..6cbfd20 --- /dev/null +++ b/resources/config/simulation/pioneer/laserfilter_config.yaml @@ -0,0 +1,10 @@ +# http://wiki.ros.org/laser_filters#LaserScanRangeFilter +scan_filter_chain: +- name: range + type: laser_filters/LaserScanRangeFilter + params: + use_message_range_limits: false + lower_threshold: 0.1 + upper_threshold: .inf + lower_replacement_value: 0.1 + upper_replacement_value: 10.0 diff --git a/resources/config/simulation/pioneer/navigation/2d/base_local_planner_params.yaml b/resources/config/simulation/pioneer/navigation/2d/base_local_planner_params.yaml new file mode 100644 index 0000000..4f70f93 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/2d/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/simulation/pioneer/navigation/2d/controllers.yaml b/resources/config/simulation/pioneer/navigation/2d/controllers.yaml new file mode 100644 index 0000000..1a42b4e --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/2d/controllers.yaml @@ -0,0 +1,81 @@ +controllers: + - name: 'DWAPlannerROS' + type: 'dwa_local_planner/DWAPlannerROS' + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/simulation/pioneer/navigation/2d/costmap_common_params.yaml b/resources/config/simulation/pioneer/navigation/2d/costmap_common_params.yaml new file mode 100644 index 0000000..ccc7653 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/2d/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /frontscan_filtered, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/simulation/pioneer/navigation/2d/global_costmap_params.yaml b/resources/config/simulation/pioneer/navigation/2d/global_costmap_params.yaml new file mode 100644 index 0000000..ca15b85 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/2d/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 0.5 + static_map: + map_topic: /map + + diff --git a/resources/config/simulation/pioneer/navigation/2d/global_planner_params.yaml b/resources/config/simulation/pioneer/navigation/2d/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/2d/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/simulation/pioneer/navigation/2d/local_costmap_params.yaml b/resources/config/simulation/pioneer/navigation/2d/local_costmap_params.yaml new file mode 100644 index 0000000..9dd6de2 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/2d/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/simulation/pioneer/navigation/2d/planners.yaml b/resources/config/simulation/pioneer/navigation/2d/planners.yaml new file mode 100644 index 0000000..55a8eaa --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/2d/planners.yaml @@ -0,0 +1,29 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' + - name: 'SBPLLatticePlanner' + type: 'SBPLLatticePlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 +SBPLLatticePlanner: + planner_type: 'ARAPlanner' + allocated_time: 20.0 # default: 10.0 + initial_epsilon: 3.0 + environment_type: 'XYThetaLattice' # The only environment supported + forward_search: true # default is false + # NOTE: param 'primitive_filename'. This needs to be set to the path to 'ceres_navigation/mprim/ceres_5cm.mprim' + # You may put it in the mprim.yaml file, which is ignored by git, so everybody can setup his own path. + nominalvel_mpersecs: 0.7 + timetoturn45degsinplace_secs: 0.6 + lethal_obstacle: 250 + diff --git a/resources/config/simulation/pioneer/navigation/2d/recovery_behaviors.yaml b/resources/config/simulation/pioneer/navigation/2d/recovery_behaviors.yaml new file mode 100644 index 0000000..81e8114 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/2d/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'moveback_recovery' + type: 'moveback_recovery/MoveBackRecovery' + +moveback_recovery: + linear_vel_back: -0.1 # default -0.3 + step_back_length: 0.3 # default 1.0 + step_back_timeout: 5.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/simulation/pioneer/navigation/2d_unknown/base_local_planner_params.yaml b/resources/config/simulation/pioneer/navigation/2d_unknown/base_local_planner_params.yaml new file mode 100644 index 0000000..4f70f93 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/2d_unknown/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true diff --git a/resources/config/simulation/pioneer/navigation/2d_unknown/costmap_common_params.yaml b/resources/config/simulation/pioneer/navigation/2d_unknown/costmap_common_params.yaml new file mode 100644 index 0000000..ccc7653 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/2d_unknown/costmap_common_params.yaml @@ -0,0 +1,24 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /frontscan_filtered, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/simulation/pioneer/navigation/2d_unknown/global_costmap_params.yaml b/resources/config/simulation/pioneer/navigation/2d_unknown/global_costmap_params.yaml new file mode 100644 index 0000000..411eb66 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/2d_unknown/global_costmap_params.yaml @@ -0,0 +1,13 @@ +global_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 0.0 + static_map: false + rolling_window: true + width: 500.0 + height: 500.0 + resolution: 0.1 diff --git a/resources/config/simulation/pioneer/navigation/2d_unknown/global_planner_params.yaml b/resources/config/simulation/pioneer/navigation/2d_unknown/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/2d_unknown/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/simulation/pioneer/navigation/2d_unknown/local_costmap_params.yaml b/resources/config/simulation/pioneer/navigation/2d_unknown/local_costmap_params.yaml new file mode 100644 index 0000000..9dd6de2 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/2d_unknown/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + plugins: + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/simulation/pioneer/navigation/3d/base_local_planner_params.yaml b/resources/config/simulation/pioneer/navigation/3d/base_local_planner_params.yaml new file mode 100644 index 0000000..03f9503 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/3d/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true \ No newline at end of file diff --git a/resources/config/simulation/pioneer/navigation/3d/costmap_common_params.yaml b/resources/config/simulation/pioneer/navigation/3d/costmap_common_params.yaml new file mode 100644 index 0000000..0bc5e3b --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/3d/costmap_common_params.yaml @@ -0,0 +1,73 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +3d_obstacles: + enabled: true + voxel_decay: 15 #seconds if linear, e^n if exponential + decay_model: 0 #0=linear, 1=exponential, -1=persistent + voxel_size: 0.05 #meters + track_unknown_space: true #default space is unknown + observation_persistence: 0.0 #seconds + unknown_threshold: 15 #voxel height + mark_threshold: 0 #voxel height + update_footprint_enabled: true + combination_method: 1 #1=max, 0=override + + origin_z: 0.0 #meters + publish_voxel_map: true # default off + transform_tolerance: 0.4 + mapping_mode: false # default off, saves map not for navigation + map_save_duration: 60 #default 60s, how often to autosave + observation_sources: positive_obstacle negative_obstacle + positive_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /kinect/depth/points_filtered + marking: true + clearing: true + min_obstacle_height: 0.05 #default 0, meters + #robot config defines max height here + min_z: -0.1 + max_z: 6 + vertical_fov_angle: 0.7 #default 0.7, radians + horizontal_fov_angle: 1.04 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + negative_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /kinect/depth/points_filtered + marking: true + clearing: false + min_obstacle_height: -5 #default 0, meters + max_obstacle_height: -0.2 + min_z: -6 + max_z: 0.1 + vertical_fov_angle: 0.785398 #default 0.7, radians + horizontal_fov_angle: 0.942478 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /frontscan_filtered, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/simulation/pioneer/navigation/3d/global_costmap_params.yaml b/resources/config/simulation/pioneer/navigation/3d/global_costmap_params.yaml new file mode 100644 index 0000000..c6c5ff5 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/3d/global_costmap_params.yaml @@ -0,0 +1,19 @@ +global_costmap: + plugins: + - {name: static_map_3d_negative, type: "costmap_2d::StaticLayer"} + - {name: static_map_3d_positive, type: "costmap_2d::StaticLayer"} + - {name: static_map_2d, type: "costmap_2d::StaticLayer"} + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: map + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 0.5 + static_map_2d: + map_topic: /map + static_map_3d_positive: + map_topic: /projected_map + static_map_3d_negative: + map_topic: /projected_map_negative + diff --git a/resources/config/simulation/pioneer/navigation/3d/global_planner_params.yaml b/resources/config/simulation/pioneer/navigation/3d/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/3d/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/simulation/pioneer/navigation/3d/local_costmap_params.yaml b/resources/config/simulation/pioneer/navigation/3d/local_costmap_params.yaml new file mode 100644 index 0000000..83896b2 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/3d/local_costmap_params.yaml @@ -0,0 +1,13 @@ +local_costmap: + plugins: + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/simulation/pioneer/navigation/3d_unknown/base_local_planner_params.yaml b/resources/config/simulation/pioneer/navigation/3d_unknown/base_local_planner_params.yaml new file mode 100644 index 0000000..03f9503 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/3d_unknown/base_local_planner_params.yaml @@ -0,0 +1,79 @@ +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +TrajectoryPlannerROS: + acc_lim_x: 0.35 + acc_lim_y: 0.0 + acc_lim_theta: 0.8 + max_vel_x: 1.0 + min_vel_x: 0.15 + max_vel_y: 0.0 + min_vel_y: 0.0 + max_vel_theta: 1.5 + min_vel_theta: -1.5 + min_in_place_vel_theta: 0.3 + holonomic_robot: false + # base vel/accel profile is in robot folders + # tolerances (defaults) + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.1 + latch_xy_goal_tolerance: true + # forward simulation + sim_time: 1.0 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 3 + vtheta_samples: 10 + # scoring (defaults) + meter_scoring: true + path_distance_bias: 0.5 + goal_distance_bias: 0.75 + occdist_scale: 0.00625 + heading_lookahead: 0.325 + heading_scoring_timestep: 0.8 + heading_scoring: true + dwa: false + # other + oscillation_reset_dist: 0.05 + # debug + publish_cost_grid_pc: false + +DWAPlannerROS: + #vel params + max_vel_x: 0.8 #pioneer max speed + min_vel_x: 0 + max_trans_vel: 0.8 + min_trans_vel: 0.15 + max_vel_y: 0 #diff drive + min_vel_y: 0 + max_rot_vel: 5.23599 #300 degrees + min_rot_vel: 0.4 + + #accel params + acc_lim_x: 2.5 + acc_lim_y: 0 #diff drive + acc_limit_trans: 2.5 + acc_lim_theta: 8 + + #forward sim params + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 #diff drive + vth_samples: 50 + + #scoring params + path_distance_bias: 75 + goal_distance_bias: 60 + occdist_scale: 1.2 + forward_point_distance: 0.3 + + #higher goal tolerance + yaw_goal_tolerance: 0.1 + xy_goal_tolerance: 0.2 + latch_xy_goal_tolerance: true + + #lower goal tolerance + #yaw_goal_tolerance: 0.05 + #xy_goal_tolerance: 0.1 + #latch_xy_goal_tolerance: false + + prune_plan: true \ No newline at end of file diff --git a/resources/config/simulation/pioneer/navigation/3d_unknown/costmap_common_params.yaml b/resources/config/simulation/pioneer/navigation/3d_unknown/costmap_common_params.yaml new file mode 100644 index 0000000..0bc5e3b --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/3d_unknown/costmap_common_params.yaml @@ -0,0 +1,73 @@ +obstacle_range: 2.5 +raytrace_range: 2.5 + +robot_radius: 0.30 + +footprint_padding: 0.0 + +transform_tolerance: 0.5 +map_type: costmap + +3d_obstacles: + enabled: true + voxel_decay: 15 #seconds if linear, e^n if exponential + decay_model: 0 #0=linear, 1=exponential, -1=persistent + voxel_size: 0.05 #meters + track_unknown_space: true #default space is unknown + observation_persistence: 0.0 #seconds + unknown_threshold: 15 #voxel height + mark_threshold: 0 #voxel height + update_footprint_enabled: true + combination_method: 1 #1=max, 0=override + + origin_z: 0.0 #meters + publish_voxel_map: true # default off + transform_tolerance: 0.4 + mapping_mode: false # default off, saves map not for navigation + map_save_duration: 60 #default 60s, how often to autosave + observation_sources: positive_obstacle negative_obstacle + positive_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /kinect/depth/points_filtered + marking: true + clearing: true + min_obstacle_height: 0.05 #default 0, meters + #robot config defines max height here + min_z: -0.1 + max_z: 6 + vertical_fov_angle: 0.7 #default 0.7, radians + horizontal_fov_angle: 1.04 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + negative_obstacle: + enabled: true #default true, can be toggled on/off with associated service call + data_type: PointCloud2 + topic: /kinect/depth/points_filtered + marking: true + clearing: false + min_obstacle_height: -5 #default 0, meters + max_obstacle_height: -0.2 + min_z: -6 + max_z: 0.1 + vertical_fov_angle: 0.785398 #default 0.7, radians + horizontal_fov_angle: 0.942478 #default 1.04, radians + decay_acceleration: 1 #default 0, 1/s^2. If laser scanner MUST be 0 + model_type: 0 #default 0 (depth camera). Use 1 for 3D Lidar + + +2d_obstacles: + observation_sources: laser + laser: {data_type: LaserScan, + topic: /frontscan_filtered, + marking: true, + clearing: true, + expected_update_rate: 0.3, + track_unknown_space: true + } + + +inflation_layer: + inflation_radius: 0.75 + cost_scaling_factor: 2.5 \ No newline at end of file diff --git a/resources/config/simulation/pioneer/navigation/3d_unknown/global_costmap_params.yaml b/resources/config/simulation/pioneer/navigation/3d_unknown/global_costmap_params.yaml new file mode 100644 index 0000000..c0ffab0 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/3d_unknown/global_costmap_params.yaml @@ -0,0 +1,15 @@ +global_costmap: + plugins: + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 2.0 + publish_frequency: 0.0 + static_map: false + rolling_window: true + width: 500.0 + height: 500.0 + resolution: 0.1 + diff --git a/resources/config/simulation/pioneer/navigation/3d_unknown/global_planner_params.yaml b/resources/config/simulation/pioneer/navigation/3d_unknown/global_planner_params.yaml new file mode 100644 index 0000000..ea94948 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/3d_unknown/global_planner_params.yaml @@ -0,0 +1,11 @@ +base_global_planner: global_planner/GlobalPlanner +GlobalPlanner: + allow_unknown: true + cost_factor: 0.5 + lethal_cost: 253 + neutral_cost: 66 + orientation_mode: 0 + orientation_window_size: 1 + publish_potential: false + default_tolerance: 0.2 + outline_map: false \ No newline at end of file diff --git a/resources/config/simulation/pioneer/navigation/3d_unknown/local_costmap_params.yaml b/resources/config/simulation/pioneer/navigation/3d_unknown/local_costmap_params.yaml new file mode 100644 index 0000000..83896b2 --- /dev/null +++ b/resources/config/simulation/pioneer/navigation/3d_unknown/local_costmap_params.yaml @@ -0,0 +1,13 @@ +local_costmap: + plugins: + - {name: 3d_obstacles, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} + - {name: 2d_obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.06 diff --git a/resources/config/simulation/pioneer/pc_to_laser_config.yaml b/resources/config/simulation/pioneer/pc_to_laser_config.yaml new file mode 100644 index 0000000..ddad1eb --- /dev/null +++ b/resources/config/simulation/pioneer/pc_to_laser_config.yaml @@ -0,0 +1,9 @@ +#Physical parameters for the kinect +angle_min: -0.4974188 +angle_max: 0.4974188 +angle_increment: 0.00349066 +range_min: 0.6 +range_max: 4 +min_height: 0 +max_height: 1 +scan_time: 0.066666667 \ No newline at end of file diff --git a/resources/config/simulation/pioneer/rearlaser_config.yaml b/resources/config/simulation/pioneer/rearlaser_config.yaml new file mode 100644 index 0000000..c5c5ea4 --- /dev/null +++ b/resources/config/simulation/pioneer/rearlaser_config.yaml @@ -0,0 +1,16 @@ +# Descriptor also modifies the published laser topic. +descriptor: "rear" +enabled: false # Try setting true +visualize: true + +#Sensor Positioning: +x: -0.23 # Meters +y: 0.0 # Meters +z: 0.275 # Meters +yaw: 3.14 # Radians + +# Sensor Settings +min_angle: -2.26889 # Radians +max_angle: 2.26889 # Radians +ray_count: 240 +range: 10.0 # Meters diff --git a/resources/config/simulation/pioneer/robot_dimensions.yaml b/resources/config/simulation/pioneer/robot_dimensions.yaml new file mode 100644 index 0000000..d896a45 --- /dev/null +++ b/resources/config/simulation/pioneer/robot_dimensions.yaml @@ -0,0 +1,2 @@ +#Define some dimensions of the robot for filtering octomaps +occupancy_max_z: 0.4 # meters diff --git a/resources/config/simulation/pioneer_bot_mbf/base_local_planner_params.yaml b/resources/config/simulation/pioneer_bot_mbf/base_local_planner_params.yaml new file mode 100644 index 0000000..984b4c1 --- /dev/null +++ b/resources/config/simulation/pioneer_bot_mbf/base_local_planner_params.yaml @@ -0,0 +1,20 @@ +controllers: + - name: 'TrajectoryPlannerROS' + type: 'base_local_planner/TrajectoryPlannerROS' + +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false \ No newline at end of file diff --git a/resources/config/simulation/pioneer_bot_mbf/controllers.yaml b/resources/config/simulation/pioneer_bot_mbf/controllers.yaml new file mode 100644 index 0000000..cf27f63 --- /dev/null +++ b/resources/config/simulation/pioneer_bot_mbf/controllers.yaml @@ -0,0 +1,59 @@ +controllers: + - name: 'DWAPlannerROS' + type: 'dwa_local_planner/DWAPlannerROS' + +DWAPlannerROS: + max_vel_x: 2.0 + min_vel_x: 0.0 + + max_vel_y: 0.0 + min_vel_y: 0.0 + + max_trans_vel: 2.12 + min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.1 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_rot_vel: 2.0 # choose slightly less than the base's capability + min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity + rot_stopped_vel: 0.1 + + acc_lim_x: 0.7 # maximum is theoretically 2.0, but we + acc_lim_theta: 10.0 + acc_lim_y: 0.1 # diff drive robot + + # Goal Tolerance Parameters + yaw_goal_tolerance: 0.4 # 0.05 + xy_goal_tolerance: 0.2 # 0.10 + # latch_xy_goal_tolerance: false + + # Forward Simulation Parameters + sim_time: 2.0 # 1.7 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 20 # 3 + vy_samples: 1 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + + # Trajectory Scoring Parameters + path_distance_bias: 0.1 # 32.0 - weighting for how much it should stick to the global path plan -- if this value is too high, won't avoid dynamic obstacles + goal_distance_bias: 40.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.2 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.0 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.3 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 1.0 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + + # Oscillation Prevention Parameters + oscillation_reset_dist: 0.1 # 0.05 - how far to travel before resetting oscillation flags + + holonomic_robot: false + + # Debugging + publish_traj_pc: true + publish_cost_grid_pc: true + global_frame_id: map + diff --git a/resources/config/simulation/pioneer_bot_mbf/costmap_common_params.yaml b/resources/config/simulation/pioneer_bot_mbf/costmap_common_params.yaml new file mode 100644 index 0000000..4b21211 --- /dev/null +++ b/resources/config/simulation/pioneer_bot_mbf/costmap_common_params.yaml @@ -0,0 +1,23 @@ +global_frame: map +robot_base_frame: pioneer_bot/base_link + +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 1.0 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: pioneer_bot/hokuyo_front_link, data_type: LaserScan, topic: /pioneer_bot/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/simulation/pioneer_bot_mbf/global_costmap_params.yaml b/resources/config/simulation/pioneer_bot_mbf/global_costmap_params.yaml new file mode 100644 index 0000000..50b042f --- /dev/null +++ b/resources/config/simulation/pioneer_bot_mbf/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: pioneer_bot/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/simulation/pioneer_bot_mbf/local_costmap_params.yaml b/resources/config/simulation/pioneer_bot_mbf/local_costmap_params.yaml new file mode 100644 index 0000000..9e0c8e7 --- /dev/null +++ b/resources/config/simulation/pioneer_bot_mbf/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: map + robot_base_frame: pioneer_bot/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/simulation/pioneer_bot_mbf/planners.yaml b/resources/config/simulation/pioneer_bot_mbf/planners.yaml new file mode 100644 index 0000000..e639792 --- /dev/null +++ b/resources/config/simulation/pioneer_bot_mbf/planners.yaml @@ -0,0 +1,17 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 + + diff --git a/resources/config/simulation/pioneer_bot_mbf/recovery_behaviors.yaml b/resources/config/simulation/pioneer_bot_mbf/recovery_behaviors.yaml new file mode 100644 index 0000000..960f63a --- /dev/null +++ b/resources/config/simulation/pioneer_bot_mbf/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'moveback_recovery' + type: 'moveback_recovery/MoveBackRecovery' + +moveback_recovery: + linear_vel_back: -0.3 # default -0.3 + step_back_length: 1.0 # default 1.0 + step_back_timeout: 15.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/simulation/pioneer_mbf/base_local_planner_params.yaml b/resources/config/simulation/pioneer_mbf/base_local_planner_params.yaml new file mode 100644 index 0000000..984b4c1 --- /dev/null +++ b/resources/config/simulation/pioneer_mbf/base_local_planner_params.yaml @@ -0,0 +1,20 @@ +controllers: + - name: 'TrajectoryPlannerROS' + type: 'base_local_planner/TrajectoryPlannerROS' + +TrajectoryPlannerROS: + max_vel_x: 0.5 + min_vel_x: 0.05 + max_rotational_vel: 1.0 + min_in_place_rotational_vel: 0.3 + escape_vel: -0.2 + + sim_time: 1.0 + path_distance_bias: 0.6 + goal_distance_bias: 0.6 + + acc_lim_th: 2.5 + acc_lim_x: 1.5 + acc_lim_y: 1.5 + + holonomic_robot: false \ No newline at end of file diff --git a/resources/config/simulation/pioneer_mbf/controllers.yaml b/resources/config/simulation/pioneer_mbf/controllers.yaml new file mode 100644 index 0000000..cf27f63 --- /dev/null +++ b/resources/config/simulation/pioneer_mbf/controllers.yaml @@ -0,0 +1,59 @@ +controllers: + - name: 'DWAPlannerROS' + type: 'dwa_local_planner/DWAPlannerROS' + +DWAPlannerROS: + max_vel_x: 2.0 + min_vel_x: 0.0 + + max_vel_y: 0.0 + min_vel_y: 0.0 + + max_trans_vel: 2.12 + min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.1 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_rot_vel: 2.0 # choose slightly less than the base's capability + min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity + rot_stopped_vel: 0.1 + + acc_lim_x: 0.7 # maximum is theoretically 2.0, but we + acc_lim_theta: 10.0 + acc_lim_y: 0.1 # diff drive robot + + # Goal Tolerance Parameters + yaw_goal_tolerance: 0.4 # 0.05 + xy_goal_tolerance: 0.2 # 0.10 + # latch_xy_goal_tolerance: false + + # Forward Simulation Parameters + sim_time: 2.0 # 1.7 + sim_granularity: 0.025 + angular_sim_granularity: 0.025 + vx_samples: 20 # 3 + vy_samples: 1 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + + # Trajectory Scoring Parameters + path_distance_bias: 0.1 # 32.0 - weighting for how much it should stick to the global path plan -- if this value is too high, won't avoid dynamic obstacles + goal_distance_bias: 40.0 # 24.0 - wighting for how much it should attempt to reach its goal + occdist_scale: 0.2 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.0 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.3 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 1.0 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + + # Oscillation Prevention Parameters + oscillation_reset_dist: 0.1 # 0.05 - how far to travel before resetting oscillation flags + + holonomic_robot: false + + # Debugging + publish_traj_pc: true + publish_cost_grid_pc: true + global_frame_id: map + diff --git a/resources/config/simulation/pioneer_mbf/costmap_common_params.yaml b/resources/config/simulation/pioneer_mbf/costmap_common_params.yaml new file mode 100644 index 0000000..1be9451 --- /dev/null +++ b/resources/config/simulation/pioneer_mbf/costmap_common_params.yaml @@ -0,0 +1,24 @@ +# global_frame: map +# robot_base_frame: pioneer/base_link + +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.55 + +# Standard pioneer3dx footprint (meters) +footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.1905, -0.1778], [-0.254, 0], [-0.1905, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ] + +# Generous footprint for safety +# footprint: [ [0.16, 0.19], [0.26, 0.0], [0.16, -0.19], [-0.18, -0.19], [-0.26, 0.0], [-0.18, 0.19] ] + +footprint_padding: 0.0 + +transform_tolerance: 0.2 +map_type: costmap + +observation_sources: laser_scan_sensor + +laser_scan_sensor: {sensor_frame: pioneer/hokuyo_front_link, data_type: LaserScan, topic: /pioneer/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} +# laser_scan_sensor: {sensor_frame: pioneer/hokuyo_front_link, data_type: LaserScan, topic: /pioneer/frontscan, marking: true, clearing: true, expected_update_rate: 0.2} + +#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} diff --git a/resources/config/simulation/pioneer_mbf/global_costmap_params.yaml b/resources/config/simulation/pioneer_mbf/global_costmap_params.yaml new file mode 100644 index 0000000..0a0b3ee --- /dev/null +++ b/resources/config/simulation/pioneer_mbf/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: pioneer/base_link + update_frequency: 2.0 + publish_frequency: 10.0 + static_map: true diff --git a/resources/config/simulation/pioneer_mbf/local_costmap_params.yaml b/resources/config/simulation/pioneer_mbf/local_costmap_params.yaml new file mode 100644 index 0000000..e78688c --- /dev/null +++ b/resources/config/simulation/pioneer_mbf/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: map + robot_base_frame: pioneer/base_link + update_frequency: 5.0 + publish_frequency: 10.0 + static_map: false + rolling_window: true + width: 5.0 + height: 5.0 + resolution: 0.025 diff --git a/resources/config/simulation/pioneer_mbf/planners.yaml b/resources/config/simulation/pioneer_mbf/planners.yaml new file mode 100644 index 0000000..e639792 --- /dev/null +++ b/resources/config/simulation/pioneer_mbf/planners.yaml @@ -0,0 +1,17 @@ +planners: + - name: 'GlobalPlanner' + type: 'global_planner/GlobalPlanner' +planner_patience: 10.0 +GlobalPlanner: + allow_unknown: false + default_tolerance: 0.0 + visualize_potential: true + use_dijkstra: true + use_quadratic: false + use_grid_path: false + old_navfn_behaviour: false + lethal_cost: 253 + neutral_cost: 66 + cost_factor: 0.55 + + diff --git a/resources/config/simulation/pioneer_mbf/recovery_behaviors.yaml b/resources/config/simulation/pioneer_mbf/recovery_behaviors.yaml new file mode 100644 index 0000000..960f63a --- /dev/null +++ b/resources/config/simulation/pioneer_mbf/recovery_behaviors.yaml @@ -0,0 +1,12 @@ +recovery_behaviors: + - name: 'rotate_recovery' + type: 'rotate_recovery/RotateRecovery' + - name: 'clear_costmap' + type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'moveback_recovery' + type: 'moveback_recovery/MoveBackRecovery' + +moveback_recovery: + linear_vel_back: -0.3 # default -0.3 + step_back_length: 1.0 # default 1.0 + step_back_timeout: 15.0 # default 15.0 \ No newline at end of file diff --git a/resources/config/simulation/rviz_default/config.rviz b/resources/config/simulation/rviz_default/config.rviz new file mode 100644 index 0000000..6d8aa59 --- /dev/null +++ b/resources/config/simulation/rviz_default/config.rviz @@ -0,0 +1,558 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Local Costmap1/Position1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map (map_server) + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Map (octomap) + Topic: /projected_map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: false + Name: Map (negative_octomap) + Topic: /projected_map_negative + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.5 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.300000012 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Angle Tolerance: 0.100000001 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 50 + Name: Odometry + Position Tolerance: 0.100000001 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Color: 255; 25; 0 + Head Length: 0.300000012 + Head Radius: 0.100000001 + Shaft Length: 0.25 + Shaft Radius: 0.0500000007 + Value: Arrow + Topic: /odom + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Pose CurrentGoal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /move_base/current_goal + Unreliable: false + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Global Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/GlobalPlanner/plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 42; 5; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Billboards + Line Width: 0.0299999993 + Name: Scope Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Local Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Robot Footprint + Topic: /move_base/global_costmap/footprint + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bellows_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bellows_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + estop_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_fixed_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + upperarm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 8.14708233 + Min Value: -0.663921654 + Value: true + Axis: X + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: 8.40779079e-45 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0500000007 + Style: Spheres + Topic: laserscan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: pointcloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: octomap_rviz_plugin/OccupancyGrid + Enabled: false + Max. Height Display: 3.40282347e+38 + Max. Octree Depth: 16 + Min. Height Display: -3.40282347e+38 + Name: Octomap + Octomap Topic: /octomap_binary + Queue Size: 5 + Value: false + Voxel Alpha: 1 + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: amcl/initialpose + - Class: rviz/SetGoal + Topic: move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 10.4293051 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 1.43479645 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 3.12856698 + Saved: + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Top Down + Near Clip Distance: 0.00999999978 + Scale: 20 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/ThirdPersonFollower + Distance: 7.52257919 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Follower + Near Clip Distance: 0.00999999978 + Pitch: 0.490398467 + Target Frame: pioneer/base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.18539834 + - Class: rviz/XYOrbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Robot Orbit + Near Clip Distance: 0.00999999978 + Pitch: 0.595398366 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 4.12540293 +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/resources/static_maps/2d/nerve_ant_demo.pgm b/resources/static_maps/2d/nerve_ant_demo.pgm new file mode 100644 index 0000000..a4788b6 --- /dev/null +++ b/resources/static_maps/2d/nerve_ant_demo.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.100 m/pix +96 224 +255 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\ No newline at end of file diff --git a/resources/static_maps/2d/nerve_ant_demo.yaml b/resources/static_maps/2d/nerve_ant_demo.yaml new file mode 100644 index 0000000..c072add --- /dev/null +++ b/resources/static_maps/2d/nerve_ant_demo.yaml @@ -0,0 +1,7 @@ +image: nerve_ant_demo.pgm +resolution: 0.1 +origin: [-6.000000, -6.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/resources/static_maps/2d/nerve_demo_second_pioneer.pgm b/resources/static_maps/2d/nerve_demo_second_pioneer.pgm new file mode 100644 index 0000000..7449f60 --- /dev/null +++ b/resources/static_maps/2d/nerve_demo_second_pioneer.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.100 m/pix +96 224 +255 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\ No newline at end of file diff --git a/resources/static_maps/2d/nerve_demo_second_pioneer.yaml b/resources/static_maps/2d/nerve_demo_second_pioneer.yaml new file mode 100644 index 0000000..4366ade --- /dev/null +++ b/resources/static_maps/2d/nerve_demo_second_pioneer.yaml @@ -0,0 +1,7 @@ +image: nerve_demo_second_pioneer.pgm +resolution: 0.100000 +origin: [-6.000000, -6.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/resources/static_maps/2d/nerve_uShape_def.pgm b/resources/static_maps/2d/nerve_uShape_def.pgm new file mode 100644 index 0000000..d1e23f6 --- /dev/null +++ b/resources/static_maps/2d/nerve_uShape_def.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.100 m/pix +384 384 +255 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\ No newline at end of file diff --git a/resources/static_maps/2d/nerve_uShape_def.yaml b/resources/static_maps/2d/nerve_uShape_def.yaml new file mode 100644 index 0000000..dead71a --- /dev/null +++ b/resources/static_maps/2d/nerve_uShape_def.yaml @@ -0,0 +1,7 @@ +image: nerve_uShape.pgm +resolution: 0.100000 +origin: [-20.000000, -20.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/resources/static_maps/2d/nerve_u_shape.pgm b/resources/static_maps/2d/nerve_u_shape.pgm new file mode 100644 index 0000000..32323c6 --- /dev/null +++ b/resources/static_maps/2d/nerve_u_shape.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.100 m/pix +384 384 +255 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\ No newline at end of file diff --git a/resources/static_maps/2d/nerve_u_shape.yaml b/resources/static_maps/2d/nerve_u_shape.yaml new file mode 100644 index 0000000..e358f82 --- /dev/null +++ b/resources/static_maps/2d/nerve_u_shape.yaml @@ -0,0 +1,7 @@ +image: nerve_u_shape.pgm +resolution: 0.100000 +origin: [-20.000000, -20.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/resources/static_maps/2d/nerve_ushape.pgm b/resources/static_maps/2d/nerve_ushape.pgm new file mode 100644 index 0000000..1f38211 --- /dev/null +++ b/resources/static_maps/2d/nerve_ushape.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.100 m/pix +224 224 +255 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\ No newline at end of file diff --git a/resources/static_maps/2d/nerve_ushape.yaml b/resources/static_maps/2d/nerve_ushape.yaml new file mode 100644 index 0000000..51eab84 --- /dev/null +++ b/resources/static_maps/2d/nerve_ushape.yaml @@ -0,0 +1,7 @@ +image: nerve_ushape.pgm +resolution: 0.100000 +origin: [-6.000000, -6.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/resources/static_maps/2d/u_shape.pgm b/resources/static_maps/2d/u_shape.pgm new file mode 100644 index 0000000..262f0f7 --- /dev/null +++ b/resources/static_maps/2d/u_shape.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.100 m/pix +384 384 +255 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ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ \ No newline at end of file diff --git a/resources/static_maps/2d/u_shape.yaml b/resources/static_maps/2d/u_shape.yaml new file mode 100644 index 0000000..95ff687 --- /dev/null +++ b/resources/static_maps/2d/u_shape.yaml @@ -0,0 +1,7 @@ +image: u_shape.pgm +resolution: 0.100000 +origin: [-20.000000, -20.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/scripts/nav_reporting/nerve_physical_2_aisles_blocked_Wed_Feb_3_18:34:16_2021/figs/robot_position_graph.png b/scripts/nav_reporting/nerve_physical_2_aisles_blocked_Wed_Feb_3_18_34_16_2021/figs/robot_position_graph.png similarity index 100% rename from scripts/nav_reporting/nerve_physical_2_aisles_blocked_Wed_Feb_3_18:34:16_2021/figs/robot_position_graph.png rename to scripts/nav_reporting/nerve_physical_2_aisles_blocked_Wed_Feb_3_18_34_16_2021/figs/robot_position_graph.png diff --git a/scripts/nav_reporting/nerve_physical_2_aisles_blocked_Wed_Feb_3_18:34:16_2021/figs/time_to_goal_per_run_histogram.png b/scripts/nav_reporting/nerve_physical_2_aisles_blocked_Wed_Feb_3_18_34_16_2021/figs/time_to_goal_per_run_histogram.png similarity index 100% rename from scripts/nav_reporting/nerve_physical_2_aisles_blocked_Wed_Feb_3_18:34:16_2021/figs/time_to_goal_per_run_histogram.png rename to scripts/nav_reporting/nerve_physical_2_aisles_blocked_Wed_Feb_3_18_34_16_2021/figs/time_to_goal_per_run_histogram.png diff --git a/scripts/nav_reporting/nerve_physical_2_aisles_blocked_Wed_Feb_3_18:34:16_2021/nerve_physical_2_aisles_blocked_Wed_Feb_3_18:34:16_2021.xlsx b/scripts/nav_reporting/nerve_physical_2_aisles_blocked_Wed_Feb_3_18_34_16_2021/nerve_physical_2_aisles_blocked_Wed_Feb_3_18_34_16_2021.xlsx similarity index 100% rename from scripts/nav_reporting/nerve_physical_2_aisles_blocked_Wed_Feb_3_18:34:16_2021/nerve_physical_2_aisles_blocked_Wed_Feb_3_18:34:16_2021.xlsx rename to scripts/nav_reporting/nerve_physical_2_aisles_blocked_Wed_Feb_3_18_34_16_2021/nerve_physical_2_aisles_blocked_Wed_Feb_3_18_34_16_2021.xlsx diff --git a/scripts/save_maps.sh b/scripts/save_maps.sh old mode 100755 new mode 100644 diff --git a/src/automated_navigation_tester.cpp b/src/automated_navigation_tester.cpp new file mode 100644 index 0000000..d2c45ab --- /dev/null +++ b/src/automated_navigation_tester.cpp @@ -0,0 +1,348 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace nlohmann; + +double xOdom, yOdom; +double xGoal, yGoal; +// required for computing distance between two coordinates - for logger (remove?) +float distance(float x1, float y1, float x2, float y2) +{ + float dx = x2 - x1; + float dy = y2 - y1; + return sqrt(dx * dx + dy * dy); +} + +// global variables for keeping track of whether files are launched +bool gazebo_active = false; +bool map_active = false; +bool tuw_active = false; +map odom_map; +map goal_pose_map; +string tester_status = ""; +ros::Publisher tester_status_pub; + +// callbacks +void tester_callback(std_msgs::String msg){ + tester_status = msg.data; +} +void gazebo_callback(gazebo_msgs::ModelStates msg){ + gazebo_active = true; +} +void map_callback(nav_msgs::OccupancyGrid msg){ + map_active = true; +} +void odom_callback(nav_msgs::Odometry msg){ + string temp; + stringstream ss(msg.header.frame_id); + getline(ss, temp, '/'); + if (odom_map.find(temp) != odom_map.end() && odom_map[temp]) { return; } + odom_map[temp] = true; +} +void goal_pub_callback(geometry_msgs::PoseStamped msg){ + string temp; + stringstream ss(msg.header.frame_id); + getline(ss, temp, '/'); + if (goal_pose_map.find(temp) != goal_pose_map.end() && goal_pose_map[temp]) { return; } + goal_pose_map[temp] = true; +} +void tuw_callback(tuw_multi_robot_msgs::RobotInfo msg){ + tuw_active = true; +} + +// would be called by a seperate thread +void tester_status_subscriber(vector robot_names){ + vector odom_subs, goal_pub_subs; + odom_subs.resize(robot_names.size()); + goal_pub_subs.resize(robot_names.size()); + + ros::NodeHandle nh; + + // publisher for publishing the tester status (continue, stop, etc.) (remove? ask Peter?) + tester_status_pub = nh.advertise("tester_status", 1000, true); + + ros::Subscriber tester_status_sub = nh.subscribe("tester_status", 1000, tester_callback); + ros::Subscriber gazebo_sub = nh.subscribe("gazebo/model_states", 1000, gazebo_callback); + ros::Subscriber map_sub = nh.subscribe("map", 1000, map_callback); + ros::Subscriber tuw_sub = nh.subscribe("robot_info", 1000, tuw_callback); + + // initializing the ros publisher and subscribers + for (int i = 0; i < robot_names.size(); ++i){ + odom_map[robot_names[i]] = false; + goal_pose_map[robot_names[i]] = false; + string topic_name = robot_names[i] + "/odom"; + odom_subs[i] = nh.subscribe(topic_name, 1000, odom_callback); + topic_name = robot_names[i] + "/goal_pose"; + goal_pub_subs[i] = nh.subscribe(topic_name, 1000, goal_pub_callback); + } + + ros::Rate rate(1); + while(ros::ok()){ + ros::spinOnce(); + rate.sleep(); + } +} + +// data structure for a robot +struct robot { + string robot; + string robot_namespace; + double starting_position_x; + double starting_position_y; + double goal_position_x; + double goal_position_y; + string nav_config; +}; +typedef struct robot Robot; + +class TestRunner{ + public: + TestRunner(json json_file) { + map = json_file.at("map").at("map_name"); + world_name = json_file.at("map").at("world_name"); + number_of_robots = json_file.at("robots").at("number_of_robots"); + robots.resize(number_of_robots); + string robot = "robot_"; + + for (int i = 0, j = 1; j < number_of_robots + 1; ++i, ++j) { + string robot_name = robot + to_string(j); + robots[i].robot = json_file.at("robots").at(robot_name).at("robot"); + robots[i].robot_namespace = json_file.at("robots").at(robot_name).at("robot_namespace"); + robots[i].starting_position_x = json_file.at("robots").at(robot_name).at("starting_position")[0]; + robots[i].starting_position_y = json_file.at("robots").at(robot_name).at("starting_position").at(1); + robots[i].goal_position_x = json_file.at("robots").at(robot_name).at("goal_position")[0]; + robots[i].goal_position_y = json_file.at("robots").at(robot_name).at("goal_position").at(1); + robots[i].nav_config = json_file.at("robots").at(robot_name).at("nav_config"); + } + + for (int i = 0; i < robots.size(); ++i) { + robot_names_str += robots[i].robot_namespace; + robot_goals_str += to_string(robots[i].goal_position_x) + "," + to_string(robots[i].goal_position_y); + if (i != robots.size() - 1){ + robot_names_str += ","; + robot_goals_str += ","; + } + } + + xGoal = robots[0].goal_position_x; + yGoal = robots[0].goal_position_y; + } + + void run(int num_repetitions, bool simulation, bool auto_reset) { + bool gazebo_launched = false; + for (int i = 0; i < num_repetitions; ++i) { + if (simulation) { + if (!gazebo_launched) { + string launch_gazebo = "roslaunch uml_hri_nerve_nav_sim_resources spawn_world.launch world_path:=" + world_name + ".world" + out; + system(launch_gazebo.c_str()); + while(!gazebo_active); + gazebo_launched = true; + } + string launch_spawn_robot; + for (int i = 0; i < number_of_robots; ++i){ + launch_spawn_robot = "roslaunch uml_hri_nerve_nav_sim_resources spawn_pioneer.launch x:=" + + to_string(robots[i].starting_position_x) + " y:=" + to_string(robots[i].starting_position_y) + + " model_type:=" + robots[i].robot_namespace + out; + system(launch_spawn_robot.c_str()); + } + } + + string launch_map = "roslaunch uml_hri_nerve_navigation map_server.launch map_name:=" + map + out; + system(launch_map.c_str()); + while (!map_active); + + string launch_goal_pub, launch_robot; + for (int i = 0; i < number_of_robots; ++i){ + launch_robot = "roslaunch uml_hri_nerve_navigation setup_pioneer.launch x:=" + to_string(robots[i].starting_position_x) + + " y:=" + to_string(robots[i].starting_position_y) + " robot_name:=" + robots[i].robot_namespace + " iteration:=" + + to_string(num_repetitions) + " config:=" + robots[i].nav_config + out; + + launch_goal_pub = "roslaunch uml_hri_nerve_navigation tester_goal_publisher.launch robot_name:=" + robots[i].robot_namespace + " goal_x:=" + + to_string(robots[i].goal_position_x) + " goal_y:=" + to_string(robots[i].goal_position_y) + out; + + system(launch_robot.c_str()); + while (!odom_map[robots[i].robot_namespace]); + + system(launch_goal_pub.c_str()); + while (!goal_pose_map[robots[i].robot_namespace]); + } + + if (robots[0].nav_config == "tuw" || robots[0].nav_config == "tuw_mbf"){ + // launch tuw + string mbf = (robots[0].nav_config == "tuw_mbf") ? "mbf:=true" : "mbf:=false"; + string launch_tuw = "roslaunch --log uml_hri_nerve_navigation tuw.launch " + mbf + out; + system(launch_tuw.c_str()); + while (!tuw_active); + + string launch_graph_checker = "rosrun uml_hri_nerve_navigation graph_checker"; + system(launch_graph_checker.c_str()); + } + + string launch_goal_sender = "roslaunch --log uml_hri_nerve_navigation multiple_robots_test_goal_sender.launch robot_names:=" + + robot_names_str + " robot_goals:=" + robot_goals_str + " test:=" + robots[0].nav_config + + " num_robots:=" + to_string(number_of_robots) + out; + system(launch_goal_sender.c_str()); + + string launch_checker = "roslaunch uml_hri_nerve_navigation robot_checker.launch robot_names:=" + robot_names_str + ""; + system(launch_checker.c_str()); + + sleep(1); + + string end_iteration; + + if (auto_reset) { + end_iteration = "rosnode list | grep -v rosaria | grep -v rosout | grep -v hokuyo | grep -v test_runner | grep -v map | xargs rosnode kill" + out; + system(end_iteration.c_str()); + reset_robot(num_repetitions); + } + + if (!simulation) { + end_iteration = "rosnode list | grep -v rosaria | grep -v rosout | grep -v hokuyo | grep -v test_runner | xargs rosnode kill" + out; + system(end_iteration.c_str()); + } + else { + end_iteration = "rosnode list | grep -v gazebo | grep -v rosout | grep -v map | grep -v test_runner | xargs rosnode kill" + out; + system(end_iteration.c_str()); + + for (int i = 0; i < number_of_robots; ++i){ + string delete_robot = "rosservice call gazebo/delete_model '{model_name: " + robots[i].robot_namespace + "}'"; + system(delete_robot.c_str()); + } + } + + sleep(1); + } + + if (simulation) { + system("pkill roslaunch"); + while(ros::master::check()); + cout << "MASTER HAS DIED" << endl << endl; + } + else { // ------------- FIGURE THIS OUT BY TESTING ----------------- ??? + string end_test = "rosnode list | grep -v rosaria | grep -v rosout | grep -v hokuyo | xargs rosnode kill" + out; + system(end_test.c_str()); + } + } + + vector get_robot_names() { + vector temp; + for (int i = 0; i < robots.size(); ++i){ + temp.push_back(robots[i].robot_namespace); + } + return temp; + } + + private: + string map, world_name, robot_names_str, robot_goals_str; + int number_of_robots; + vector robots; + + string out = " &"; + + // private function which resets booleans for the subscriber thread + void reset(){ + gazebo_active = false; + map_active = false; + tuw_active = false; + for (int i = 0; i < robots.size(); ++i){ + odom_map[robots[i].robot_namespace] = false; + goal_pose_map[robots[i].robot_namespace] = false; + } + } + + void reset_robot(int num_repetitions) { + string launch_goal_pub, launch_robot; + string robot_reset_goals_str = ""; + for (int i = 0; i < number_of_robots; ++i){ + launch_robot = "roslaunch uml_hri_nerve_navigation setup_pioneer.launch x:=" + to_string(xOdom) + + " y:=" + to_string(robots[i].goal_position_y) + " robot_name:=" + robots[i].robot_namespace + + " iteration:=" + to_string(num_repetitions) + " config:=" + robots[i].nav_config + out; + system(launch_robot.c_str()); + while (!odom_map[robots[i].robot_namespace]); + + launch_goal_pub = "roslaunch uml_hri_nerve_navigation tester_goal_publisher.launch robot_name:=" + robots[i].robot_namespace + " goal_x:=" + + to_string(robots[i].starting_position_x) + " goal_y:=" + to_string(robots[i].starting_position_y) + out; + system(launch_goal_pub.c_str()); + while (!goal_pose_map[robots[i].robot_namespace]); + + robot_reset_goals_str += to_string(robots[i].starting_position_x) + "," + to_string(robots[i].starting_position_y); + if (i != number_of_robots - 1){ + robot_reset_goals_str += ","; + } + } + + if (robots[0].nav_config == "tuw" || robots[0].nav_config == "tuw_mbf"){ + // launch tuw + string mbf = (robots[0].nav_config == "tuw_mbf") ? "mbf:=true" : "mbf:=false"; + string launch_tuw = "roslaunch --log uml_hri_nerve_navigation tuw.launch " + mbf + out; + system(launch_tuw.c_str()); + while (!tuw_active); + + string launch_graph_checker = "rosrun uml_hri_nerve_navigation graph_checker"; + system(launch_graph_checker.c_str()); + } + + string launch_goal_sender = "roslaunch --log uml_hri_nerve_navigation multiple_robots_test_goal_sender.launch robot_names:=" + + robot_names_str + " robot_goals:=" + robot_reset_goals_str + " test:=" + robots[0].nav_config + + " num_robots:=" + to_string(number_of_robots) + out; + system(launch_goal_sender.c_str()); + + string launch_checker = "roslaunch uml_hri_nerve_navigation robot_checker.launch robot_names:=" + robot_names_str + ""; + system(launch_checker.c_str()); + sleep(1); + } +}; + +int main(int argc, char* argv[]) { + system("roslaunch uml_hri_nerve_navigation start_roscore.launch &"); + + ros::init(argc, argv, "automated_navigation_tester"); + ros::NodeHandle nh("~"); + + string file_path, file_name; + int num_repetitions = 1; + bool simulation_mode = false, auto_reset = false; + file_name = "test_1.json"; + file_path = "src/uml_hri_nerve_navigation/test_defs/" + file_name; + + nh.getParam("repetitions", num_repetitions); + nh.getParam("test_file", file_name); + nh.param("test_file_path", file_path, "src/uml_hri_nerve_navigation/test_defs/" + file_name); + nh.param("simulation_mode", simulation_mode, true); + nh.param("auto_reset", auto_reset, false); + + if (num_repetitions <= 0) { + ROS_INFO("Invalid number of repetitions....... PLEASE RUN AGAIN.............\n"); + ros::shutdown(); + } + + fstream file(file_path, ios::in); + json json_file = json::parse(file); + TestRunner test_runner(json_file); + + thread subscriberThread(tester_status_subscriber, test_runner.get_robot_names()); + subscriberThread.detach(); + + std::cout << "RUNNING TEST FILE: " << file_name << ", TEST PATH: " << file_path << + ", REPETITIONS: " << num_repetitions << ", SIMULATION_MODE: " << simulation_mode << ", auto_reset: " << auto_reset << std::endl; + + test_runner.run(num_repetitions, simulation_mode, auto_reset); + + ros::shutdown(); + + return 0; +} \ No newline at end of file diff --git a/src/checker.cpp b/src/checker.cpp new file mode 100644 index 0000000..df6dd21 --- /dev/null +++ b/src/checker.cpp @@ -0,0 +1,170 @@ +/* + The checker is created to support the python API for running automated test. Pupose of this test is to shutdown the node if the robots has reached their goal or are stuck. +*/ + +#include +#include +#include +#include +#include +#include + +// booleans for checking if the robots reached their goals +bool robot1_goal_reached = false; +bool robot2_goal_reached = false; + +// variables for storing the goal positions +geometry_msgs::Pose robot1_goal; +geometry_msgs::Pose robot2_goal; + +std::vector robot1_poses; +int robot1_index = 0; +std::vector robot2_poses; +int robot2_index = 0; +bool kill_node = false; + +int r1_counter = 0; +int r2_counter = 0; + +// callback funtion for goals topic +void goals_callback(const tuw_multi_robot_msgs::RobotGoalsArrayConstPtr& goals_msg){ + // variable for storing the goal + tuw_multi_robot_msgs::RobotGoalsArray goals; + goals = *goals_msg; + + // storing the goals for each robots + robot1_goal = goals.robots[0].destinations[0]; + robot2_goal = goals.robots[1].destinations[0]; +} + +// callback function for robot1 odom topic +void robot1_odom_callback(const nav_msgs::OdometryConstPtr& odom_msg){ + // variable for storing robot1 odom information + nav_msgs::Odometry robot1_odom; + robot1_odom = *odom_msg; + + if (robot1_goal.position.x != 0 && robot1_goal.position.y != 0){ + robot1_poses.push_back(robot1_odom.pose.pose.position); + + if (!robot1_goal_reached && robot1_poses.size() % 15 == 0){ + if (abs(robot1_poses.at(robot1_index).x - robot1_poses.at(robot1_poses.size() - 1).x) < 0.5 && + abs(robot1_poses.at(robot1_index).y - robot1_poses.at(robot1_poses.size() - 1).y) < 0.5){ + ROS_INFO("Robot1 has not moved from past %d seconds", robot1_poses.size()); + robot1_index = robot1_poses.size(); + if (robot1_poses.size() == 45){ + kill_node = true; + } + } + else{ + robot1_index = 0; + for (int i = 0; i < robot1_poses.size(); ++i){ + robot1_poses.pop_back(); + } + } + } + } + else { + r1_counter++; + if (r1_counter != 0 && r1_counter % 15 == 0){ + ROS_INFO("No goals sent, please send a goal for robot1 to move...."); + } + } + + // checks if the difference between robots current position and goal position is not much, then the goal is reached + if (abs(robot1_goal.position.x - robot1_odom.pose.pose.position.x) < 0.5 && + abs(robot1_goal.position.y - robot1_odom.pose.pose.position.y) < 0.5 && + robot1_goal.position.x != 0 && robot1_goal.position.y != 0 && !robot1_goal_reached){ + ROS_INFO("Robot 1 has reached its goal!"); + robot1_goal_reached = true; + } + else if (robot1_goal_reached); // for avoiding printing the message from the if condition continously +} + +// callback function for robot2 odom topic +void robot2_odom_callback(const nav_msgs::OdometryConstPtr& odom_msg){ + // variable for storing robot2 odom information + nav_msgs::Odometry robot2_odom; + robot2_odom = *odom_msg; + if (robot2_goal.position.x != 0 && robot2_goal.position.y != 0){ + robot2_poses.push_back(robot2_odom.pose.pose.position); + + if (!robot2_goal_reached && robot2_poses.size() % 15 == 0){ + if (abs(robot2_poses.at(robot2_index).x - robot2_poses.at(robot2_poses.size() - 1).x) < 0.5 && + abs(robot2_poses.at(robot2_index).y - robot2_poses.at(robot2_poses.size() - 1).y) < 0.5){ + ROS_INFO("Robot2 has not moved from past %d seconds", robot2_poses.size()); + robot2_index = robot2_poses.size(); + if (robot2_poses.size() == 45){ + kill_node = true; + } + } + else{ + robot2_index = 0; + for (int i = 0; i < robot2_poses.size(); ++i){ + robot2_poses.pop_back(); + } + } + } + } + else { + r2_counter++; + if (r2_counter != 0 && r2_counter % 15 == 0){ + ROS_INFO("No goals sent, please send a goal for robot2 to move...."); + } + } + + // checks if the difference between robots current position and goal position is not much, then the goal is reached + if (abs(robot2_goal.position.x - robot2_odom.pose.pose.position.x) < 0.5 && + abs(robot2_goal.position.y - robot2_odom.pose.pose.position.y) < 0.5 && + robot2_goal.position.x != 0 && robot2_goal.position.y != 0 && !robot2_goal_reached){ + ROS_INFO("Robot 2 has reached its goal!"); + robot2_goal_reached = true; + } + else if (robot2_goal_reached); // for avoiding printing the message from the if condition continously +} + +int main(int argc, char** argv){ + ros::init(argc, argv, "checker_node"); + ros::NodeHandle nh; + ROS_INFO("MBF Checker is running"); + + // strings created for getting the robots name as parameters from the launch file so that the code can be used with any two robots + std::string robot1_name = "pioneer"; + std::string robot2_name = "pioneer_bot"; + nh.getParam(ros::this_node::getName()+"/robot1_name",robot1_name); + nh.getParam(ros::this_node::getName()+"/robot2_name",robot2_name); + + // strings for adding robot namespace before their odom topics in order to be subscribed + std::string robot1_odom_topic = robot1_name + "/odom"; + std::string robot2_odom_topic = robot2_name + "/odom"; + + // subscribers + ros::Subscriber goals_sub = nh.subscribe("/goals", 1000, goals_callback); + ros::Subscriber robot1_odom_sub = nh.subscribe(robot1_odom_topic, 1, robot1_odom_callback); + ros::Subscriber robot2_odom_sub = nh.subscribe(robot2_odom_topic, 1, robot2_odom_callback); + + ros::Rate rate(1); + while(ros::ok()){ + // checks if both robots have reached their goals then prepare for shutting down the node + if (robot2_goal_reached){ + ROS_INFO("Both robots has reached their goals, shutting down the node...."); + if (robot1_poses.size() != 0){ + robot1_poses.clear(); + } + if (robot2_poses.size() != 0){ + robot2_poses.clear(); + } + sleep(5); + ros::shutdown(); + } + if (kill_node){ + ROS_INFO("One (or both) of the robots still haven't moved, shuting down the node...."); + robot1_poses.clear(); + robot2_poses.clear(); + ros::shutdown(); + } + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/src/goal_pub.cpp b/src/goal_pub.cpp index 96615c3..e6fa424 100644 --- a/src/goal_pub.cpp +++ b/src/goal_pub.cpp @@ -150,7 +150,7 @@ int main(int argc, char **argv) //Create ros node ros::init(argc, argv, "goal_publisher"); ros::NodeHandle n; - + ROS_ERROR("GOAL PUB IS RUNNING"); //create a goalManager object goalManager = new GoalManager(n); diff --git a/src/graph_checker.cpp b/src/graph_checker.cpp new file mode 100644 index 0000000..c0d10b8 --- /dev/null +++ b/src/graph_checker.cpp @@ -0,0 +1,28 @@ +#include +#include +#include + +bool got_graph = false; + +void callback(tuw_multi_robot_msgs::Graph msg){ + ROS_INFO("Received the graph"); + got_graph = true; +} + +int main(int argc, char** argv){ + ros::init(argc, argv, "graph_checker"); + ros::NodeHandle nh; + ros::Subscriber sub = nh.subscribe("/segments", 1000, callback); + + ros::Rate rate(10); + while(ros::ok()){ + if(got_graph){ + ROS_INFO("Graph is received"); + ros::shutdown(); + } + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/src/logger.cpp b/src/logger.cpp index eecd616..e003452 100644 --- a/src/logger.cpp +++ b/src/logger.cpp @@ -11,6 +11,7 @@ #include #include #include +#include #include #include #include @@ -24,10 +25,14 @@ #include #include #include - - +#include +#include //SimLog is a custom message type defined in uml_hri_nerve_navigation/msg/SimLog.msg #include +#include +#include +#include + // Simple distance function float distance(float x1, float y1, float x2, float y2) @@ -37,6 +42,30 @@ float distance(float x1, float y1, float x2, float y2) return sqrt(dx * dx + dy * dy); } +int minutes; +int seconds; +bool thread_started = false; +void time_counter(std::chrono::steady_clock::time_point start){ + using namespace std; + while(true) { + sleep(1); + auto end = std::chrono::steady_clock::now(); + double time_elapsed = double(std::chrono::duration_cast(end - start).count()); + double time_elapsed_sec = time_elapsed/1e9; + if (time_elapsed_sec <= 60){ + minutes = 0; + seconds = time_elapsed_sec; + } + else{ + minutes = time_elapsed_sec/60; + seconds = (int)time_elapsed_sec % 60; + } + // outFile.open("time.txt", ios::out); + // outFile << setw(2) << setfill('0') << minutes << ":" << setw(2) << setfill('0') << seconds << std::endl; + // outFile.close(); + } +} + class Logger { private: @@ -62,10 +91,18 @@ class Logger //Files std::fstream csvFile; std::fstream txtFile; + std::fstream oStream; + + std::string filePathString; + std::string filePathVel; + + int num; public: Logger(ros::NodeHandle n) { + + std::cout << "------------------------------------------------- THIS VERSION OF LOGGER IS RUNNING ---------------------------------------------" << std::endl; //Setup variable defaults nh = n; collision_num = 0; @@ -84,28 +121,94 @@ class Logger log.iteration = 0; - //Get file path from parameter + //Get fcsvile path from parameter std::string file_path; n.getParam(ros::this_node::getName()+"/file_path", file_path); + filePathString = file_path; + filePathVel = file_path + "/velocity.txt"; std::string file_path_csv = file_path + "/sim_log.csv"; std::string file_path_txt = file_path + "/config.txt"; + std::string file_path_print = file_path + "/print.txt"; + //Create the folders - boost::filesystem::create_directories(file_path.c_str()); - boost::filesystem::permissions(file_path.c_str(), boost::filesystem::all_all); + //boost::filesystem::create_directories(file_path.c_str()); + //boost::filesystem::permissions(file_path.c_str(), boost::filesystem::all_all); //Create files - csvFile.open(file_path_csv.c_str(), std::ios::out); + csvFile.open(file_path_csv.c_str(), std::ios::out | std::ios_base::app); txtFile.open(file_path_txt.c_str(), std::ios::out); + // oStream.open(file_path_print.c_str(), std::ios::out); + + std::string file_path_iteration = file_path + "/num_iteration.txt"; + std::ifstream inStream; + std::fstream outStream; + + if (!csvFile){ + int temp = 0; + boost::filesystem::create_directories(file_path.c_str()); + boost::filesystem::permissions(file_path.c_str(), boost::filesystem::all_all); + csvFile.open(file_path_csv.c_str(), std::ios::out); + txtFile.open(file_path_txt.c_str(), std::ios::out); + // oStream.open(file_path_print.c_str(), std::ios::out); + + outStream.open(file_path_iteration.c_str(), std::ios::out); + outStream << temp; + outStream.close(); + } + std::string strTemp; + + inStream.open(file_path_iteration.c_str()); + inStream >> num; + if (num != 0) { + inStream >> strTemp; + } + inStream.close(); + + + ROS_ERROR("--------------------------------------------------- LOGGER: |%d|%s|----------------------------------------------------", num, strTemp.c_str()); + + if (num == 0 || strTemp == "(Reset)") { + ROS_ERROR("----------------------------------------------------------------- HERE"); + num++; + outStream.open(file_path_iteration.c_str(), std::ios::out); + outStream << num; + outStream << " (Navigation)"; + outStream.close(); + } + else if (strTemp == "(Navigation)") { + outStream.open(file_path_iteration.c_str(), std::ios::out); + outStream << num; + outStream << " (Reset)"; + outStream.close(); + } + + oStream.open(file_path_print.c_str(), std::ios::out); + oStream << "Position: (0.00, 0.00) | Distance from goal: 0.00" << std::endl; + oStream.close(); + + csvFile<<"Iteration,Elapsed Time,Timestamp,Robot Pos X,Robot Pos Y,Robot Pos Theta,Goal X,Goal Y,Distance From Goal,Collision X,Collision Y,Goal#,Event" << std::endl; - //Write the headers for the csv file - csvFile<<"Timestamp,Robot Pos X,Robot Pos Y,Robot Pos Theta,Goal X,Goal Y,Distance From Goal,Collision X,Collision Y,Iteration,Event" << std::endl; }; + void add_velocity(geometry_msgs::Twist cmd_vel){ + + std::fstream velFile; + velFile.setf(std::ios::fixed); + velFile.setf(std::ios::showpoint); + velFile.precision(2); + if (navigating && test_active) { + velFile.open(filePathVel.c_str(), std::ios::out); + velFile << "Velocity: Linear: " << cmd_vel.linear.x << " | Angular: " << cmd_vel.angular.z << std::endl; + velFile.close(); + } + } void add_position(geometry_msgs::PoseStamped pose) { if (navigating && test_active) { + ROS_ERROR("--------------------------------------------------- LOGGER POSITION ----------------------------------------------------"); + //save the position and distance log.robot_pos.x = pose.pose.position.x; log.robot_pos.y = pose.pose.position.y; @@ -208,6 +311,34 @@ class Logger } } + void mbf_add_goal(geometry_msgs::Pose2D goal_pose){ + if (!navigating && test_active) + { + //Save goal pos + log.goal.x = goal_pose.x; + log.goal.y = goal_pose.y; + + //Change nav and publish state + navigating = true; + publishing = true; + + //Increment iterations + log.iteration++; + + //Reset iteration collision counter + iteration_collision = 0; + + int num = log.iteration; + + //Add msg log + std::stringstream str; + str << "Goal: " << num << " registered at x:" << goal_pose.x << " y:" << goal_pose.y; + log.event = str.str(); + ROS_INFO("Starting iteration %d", log.iteration); + ROS_INFO("Goal: %d registered at x:%.3f y:%.3f", num, goal_pose.x, goal_pose.y); + } + } + void set_test_status(std_msgs::Bool test_status_msg) { test_active = test_status_msg.data; @@ -217,18 +348,51 @@ class Logger { if (publishing) { + if (!thread_started){ + auto start = std::chrono::steady_clock::now(); + std::thread time_counter_thread(time_counter, start); + time_counter_thread.detach(); + thread_started = true; + } //Save the current timestamp for the log log.header.stamp = ros::Time::now(); - + std::string elapsed_time_str; + if (std::to_string(minutes).size() <= 1){ + elapsed_time_str = "0" + std::to_string(minutes); + } + else{ + elapsed_time_str = std::to_string(minutes); + } + elapsed_time_str += ":"; + if (std::to_string(seconds).size() <= 1){ + elapsed_time_str += "0"+std::to_string(seconds); + } + else{ + elapsed_time_str += std::to_string(seconds); + } + + // std::string elapsed_time_str = std::to_string(minutes) + ":" + std::to_string(seconds); + std::cout << "ELAPSED: " << elapsed_time_str << std::endl; + //Calculate the distance from the current pos to the goal. This line is here instead of add_position because the goal can change, //but the position doesn't and the distance calculation won't be performed until the position changes log.dist_from_goal = distance(log.goal.x, log.goal.y, log.robot_pos.x, log.robot_pos.y); - + //Write the contents of the log msg to the csv file (replace with publisher .publish if you want to publish a sim_log topic) - csvFile << std::to_string(log.header.stamp.toNSec()) << "," << log.robot_pos.x << "," << log.robot_pos.y << "," << log.robot_pos.theta << "," << + csvFile << num << "," << elapsed_time_str << "," << std::to_string(log.header.stamp.toSec()) << "," << log.robot_pos.x << "," << log.robot_pos.y << "," << log.robot_pos.theta << "," << log.goal.x << "," << log.goal.y << "," << log.dist_from_goal << "," << log.collision.x << "," << log.collision.y << "," << std::to_string(log.iteration) << "," << log.event << std::endl; + + + std::string file_path_print = filePathString + "/print.txt"; + oStream.open(file_path_print.c_str(), std::ios::out); + oStream.setf(std::ios::fixed); + oStream.setf(std::ios::showpoint); + oStream.precision(2); + oStream << "Position: (" << log.robot_pos.x << ", " << log.robot_pos.y << ") | Distance from goal: " << log.dist_from_goal << std::endl; + oStream.close(); + //Reset collision coords if a collision was published if (log.collision.x != -100000 || log.collision.y != -100000) { @@ -279,14 +443,21 @@ class Logger //Closes the two files that are being written to at the end of the node's life csvFile.close(); txtFile.close(); + oStream.close(); } }; Logger *logger; -void odom_callback(const geometry_msgs::PoseStamped::ConstPtr &pose) +void odom_callback(const geometry_msgs::PoseStamped::ConstPtr &pose_msg) +{ + // geometry_msgs::PoseStamped pose; + // pose.pose = pose_msg->pose.pose; + logger->add_position(*pose_msg); +} +void velocity_callback(const geometry_msgs::Twist::ConstPtr &cmd_vel) { - logger->add_position(*pose); + logger->add_velocity(*cmd_vel); } void collision_callback(const gazebo_msgs::ContactsState::ConstPtr &collision) @@ -299,6 +470,11 @@ void goal_callback(const uml_hri_nerve_navigation::Goal::ConstPtr &goal) logger->add_goal(*goal); } +void mbf_goal_callback(const geometry_msgs::Pose2D::ConstPtr &goal) +{ + logger->mbf_add_goal(*goal); +} + void state_callback(const move_base_msgs::MoveBaseActionResult::ConstPtr &state) { if (state->status.status == state->status.ABORTED || state->status.status == state->status.REJECTED) @@ -313,6 +489,26 @@ void state_callback(const move_base_msgs::MoveBaseActionResult::ConstPtr &state) } +void mbf_state_callback(const std_msgs::Bool::ConstPtr &state) +{ + logger->add_nav_result(state->data); +} + +// tuw_local_controller_msgs/ExecutePathActionResult +void tuw_state_callback(const tuw_local_controller_msgs::ExecutePathActionResult::ConstPtr &state) +{ + if (state->status.status == state->status.ABORTED || state->status.status == state->status.REJECTED) + { + logger->add_nav_result(false); + } + + if (state->status.status == state->status.SUCCEEDED) + { + logger->add_nav_result(true); + } + +} + void test_status_callback(const std_msgs::Bool::ConstPtr &test_state) { logger->set_test_status(*test_state); @@ -326,13 +522,33 @@ int main(int argc, char **argv) ros::Rate rate(20); ros::AsyncSpinner spinner(5); + int place_holder; + bool mbf = false; + bool tuw = false; + n.getParam(ros::this_node::getName()+"/mbf", mbf); + n.getParam(ros::this_node::getName()+"/tuw", tuw); + + n.getParam(ros::this_node::getName()+"/iteration_number", place_holder); + - // Setup subscribers ros::Subscriber odom_sub = n.subscribe("map_pose", 1, odom_callback); ros::Subscriber collision_sub = n.subscribe("bumper_contact", 10, collision_callback); - ros::Subscriber goal_sub = n.subscribe("goal", 10, goal_callback); - ros::Subscriber move_base_result = n.subscribe("move_base/result", 10, state_callback); - ros::Subscriber test_status = n.subscribe("/test_status", 10, test_status_callback); + ros::Subscriber test_status = n.subscribe("test_status", 10, test_status_callback); + ros::Subscriber goal_sub = n.subscribe("goal", 10, mbf_goal_callback); + ros::Subscriber vel_sub = n.subscribe("cmd_vel", 10, velocity_callback); // ======================= HARD CODED + ros::Subscriber move_base_result; + + if (mbf) { + move_base_result = n.subscribe("result", 10, mbf_state_callback); + } + else if (tuw){ + move_base_result = n.subscribe("result", 10, tuw_state_callback); + } + else { + ROS_ERROR("MBF FALSE"); + move_base_result = n.subscribe("result", 10, state_callback); + } + logger = new Logger(n); @@ -357,4 +573,4 @@ int main(int argc, char **argv) ros::waitForShutdown(); return 0; -} +} \ No newline at end of file diff --git a/src/mbf_mover.cpp b/src/mbf_mover.cpp new file mode 100644 index 0000000..63cbc56 --- /dev/null +++ b/src/mbf_mover.cpp @@ -0,0 +1,89 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +typedef actionlib::SimpleActionClient MBFClient; +MBFClient* ac; +ros::Publisher goal_pub; +ros::Publisher result_pub; + +void callback(const nav_msgs::PathConstPtr& msg){ + ROS_INFO("Path is received"); + mbf_msgs::ExePathGoal target_path_; + nav_msgs::Path path_; + geometry_msgs::Pose2D goal; + std_msgs::Bool result_bool; + + path_ = *msg; + + // Publishing goal + goal.x = path_.poses[path_.poses.size() - 1].pose.position.x; + goal.y = path_.poses[path_.poses.size() - 1].pose.position.y; + goal_pub.publish(goal); + + target_path_.controller = "TrajectoryPlannerROS"; + target_path_.path = path_; + ac->sendGoal(target_path_); + ac->waitForResult(); + + if(ac->getState() == actionlib::SimpleClientGoalState::SUCCEEDED) { + ROS_INFO("Path is traversed, goal is reached!"); + result_bool.data = true; + result_pub.publish(result_bool); + } + else if(ac->getState() == actionlib::SimpleClientGoalState::ABORTED) { + result_bool.data = false; + result_pub.publish(result_bool); + ROS_INFO("Goal aborted"); + } + else { + ROS_INFO("Robot failed to move"); + } +} + + +int main(int argc, char** argv){ + ros::init(argc, argv, "mbf_mover_node"); + ros::NodeHandle nh; + + std::string robot_name = "pioneer"; + nh.getParam(ros::this_node::getName()+"/robot_name",robot_name); + + std::string action_name = robot_name + "_move_base_flex"; + std::string status_topic = robot_name + "/test_status"; + std::string goal_topic = robot_name + "/goal"; + std::string result_topic = robot_name + "/result"; + std::string path_topic = robot_name + "/path"; + + ac = new MBFClient(action_name, true); + while(!ac->waitForServer(ros::Duration(5.0))){ + ROS_INFO("Waiting for Move Base server to come up"); + } + + + ros::Publisher test_status_pub = nh.advertise(status_topic, 1000, true); + goal_pub = nh.advertise(goal_topic, 1000, true); + result_pub = nh.advertise(result_topic, 1000, true); + ros::Subscriber sub = nh.subscribe(path_topic, 1000, callback); + + std_msgs::Bool boolean; + boolean.data = true; + test_status_pub.publish(boolean); + + ros::Rate rate(1); + while(ros::ok()){ + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/src/move_base_checker.cpp b/src/move_base_checker.cpp new file mode 100644 index 0000000..55a3cd2 --- /dev/null +++ b/src/move_base_checker.cpp @@ -0,0 +1,50 @@ +#include +#include + +bool robot1_goal_reached = false; +bool robot2_goal_reached = false; + +void robot1_result_callback(const move_base_msgs::MoveBaseActionResult::ConstPtr &result){ + if (!robot1_goal_reached && result->status.status == result->status.SUCCEEDED){ + ROS_INFO("Robot1 has reached its goal"); + robot1_goal_reached = true; + } +} + +void robot2_result_callback(const move_base_msgs::MoveBaseActionResult::ConstPtr &result){ + if (!robot2_goal_reached && result->status.status == result->status.SUCCEEDED){ + ROS_INFO("Robot2 has reached its goal"); + robot2_goal_reached = true; + } +} + +int main(int argc, char** argv){ + ros::init(argc, argv, "move_base_checker_node"); + ros::NodeHandle nh; + ROS_INFO("Checker for move_base tests is running"); + + // variables for getting the robots name as parameters from the launch file for having the code to be used by any robot + std::string robot1_name = "pioneer"; + std::string robot2_name = "pioneer_bot"; + nh.getParam(ros::this_node::getName()+"/robot1_name",robot1_name); + nh.getParam(ros::this_node::getName()+"/robot2_name",robot2_name); + + std::string robot1_result_topic = robot1_name + "_move_base/result"; + std::string robot2_result_topic = robot2_name + "_move_base/result"; + + ros::Subscriber robot1_result_sub = nh.subscribe(robot1_result_topic, 10, robot1_result_callback); + ros::Subscriber robot2_result_sub = nh.subscribe(robot2_result_topic, 10, robot2_result_callback); + + + ros::Rate rate(10); + while(ros::ok()){ + if (robot1_goal_reached && robot2_goal_reached){ + ROS_INFO("Both robots has reached their goals, shutting down the node now...."); + ros::shutdown(); + } + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/src/move_base_mover.cpp b/src/move_base_mover.cpp new file mode 100644 index 0000000..0dfceba --- /dev/null +++ b/src/move_base_mover.cpp @@ -0,0 +1,76 @@ +#include +#include +#include +#include +#include + + +typedef actionlib::SimpleActionClient MoveBaseClient; + +int main(int argc, char** argv) { + ros::init(argc, argv, "move_base_mover_node"); + ros::NodeHandle nh; + + std::string robot_name = "pioneer"; + nh.getParam(ros::this_node::getName()+"/robot_name",robot_name); + + std::string action_name = robot_name+"_move_base"; + std::string status_topic = robot_name+"/test_status"; + std::string goal_topic = robot_name+"/goal"; + + MoveBaseClient ac(action_name, true); + + ros::Publisher test_status_pub = nh.advertise(status_topic, 1000, true); + ros::Publisher goal_pub = nh.advertise(goal_topic, 1000, true); + + while (!ac.waitForServer(ros::Duration(5.0))) { + ROS_INFO("Waiting for the move_base action server to come up"); + } + + float goal_x = 0.0; + float goal_y = 0.0; + float orientation_w = 0.0; + + nh.getParam(ros::this_node::getName()+"/goal_x",goal_x); + nh.getParam(ros::this_node::getName()+"/goal_y",goal_y); + nh.getParam(ros::this_node::getName()+"/orientation_w",orientation_w); + + geometry_msgs::Pose2D goal_pose; + goal_pose.x = goal_x; + goal_pose.y = goal_y; + goal_pub.publish(goal_pose); + + move_base_msgs::MoveBaseGoal goal; + goal.target_pose.header.frame_id = "map"; + goal.target_pose.header.stamp = ros::Time::now(); + + goal.target_pose.pose.position.x = goal_x; + goal.target_pose.pose.position.y = goal_y; + goal.target_pose.pose.orientation.w = orientation_w; + + std_msgs::Bool boolean; + boolean.data = true; + test_status_pub.publish(boolean); + + ROS_INFO("Sending goal"); + ac.sendGoal(goal); + ac.waitForResult(); + + if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED) { + ROS_INFO("Goal is reached!"); + } + else if(ac.getState() == actionlib::SimpleClientGoalState::ABORTED) { + ROS_INFO("Goal aborted"); + } + else { + ROS_INFO("Robot failed to move"); + } + + ros::Rate rate(1); + while(ros::ok()){ + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/src/ob_mover.cpp b/src/ob_mover.cpp new file mode 100644 index 0000000..51c971a --- /dev/null +++ b/src/ob_mover.cpp @@ -0,0 +1,217 @@ +/* + The mover node manages the navigation status of a robot. First, if the robot needs to navigate towards a goal, the mover node + gets the current navigation goal from goal_pub and commands the move_base to move toward that goal. Once the robot reaches a goal, + the mover node will call the goal_pub service to get a new goal if another iteration is desired. Next, the mover node keeps track + of the the number of iterations the robot has completed and limits the robot to a specified number of iterations. Finally, if desired, + the costmaps on the robot are cleared in between each iteration. +*/ + +#include +#include +#include +#include +#include +#include +#include +#include + +typedef actionlib::SimpleActionClient MoveBaseClient; + +MoveBaseClient *ac; +ros::ServiceClient costmap_service; +ros::ServiceClient goal_service; +ros::ServiceClient initial_goal_service; +ros::ServiceClient reset_goals_service; +ros::Publisher testStatusPub; + +int goals_reached; +int iterations; +bool clear_costmaps; +bool initial_setup; + +void goalCallback(uml_hri_nerve_navigation::Goal goal_msg) +{ + move_base_msgs::MoveBaseGoal goal; + //save # of total goals for checking if all the goals have been navigated to in a given iteration + unsigned int total_goals_in_iteration = goal_msg.total_goals; + + //translate Goal Message to a MoveBaseGoal + goal.target_pose.header.frame_id = "map"; + goal.target_pose.header.stamp = ros::Time::now(); + goal.target_pose.pose.position.x = goal_msg.goal.x; + goal.target_pose.pose.position.y = goal_msg.goal.y; + tf2::Quaternion angle; + angle.setRPY(0, 0, goal_msg.goal.theta); + goal.target_pose.pose.orientation.z = angle.getZ(); + goal.target_pose.pose.orientation.w = angle.getW(); + + //Send the goal to the navigation action client + ac->sendGoal(goal); + ROS_INFO("Starting navigation toward goal: %s", goal_msg.description.c_str()); + + //Wait 1 second before checking nav status so for cases that instantly finish navigating, the code still holds for at least 1 sec + ros::Duration(1).sleep(); + + //Wait for the robot to finish moving + ac->waitForResult(); + + //Wait a little bit before requesting the next goal + ros::Duration(2).sleep(); + + std_srvs::Empty service_msg; + + if(initial_setup) + { + //Robot is performing the navigation test + + //Clear costmaps every iteration if clear_costmaps is true + if(clear_costmaps) + { + if (!costmap_service.call(service_msg)) + { + ROS_WARN("Failed to clear costmaps"); + } + } + + //Increase goals_reached counter + goals_reached++; + + //Requests another goal if the number of trips has not been met, otherwise shut down the node + if (goals_reached / total_goals_in_iteration < iterations) + { + //Get the next goal + if (!goal_service.call(service_msg)) + { + ROS_ERROR("Failed to request for a goal"); + } + } + else + { + //All iterations finished, publish false to test_status + std_msgs::Bool boolean; + boolean.data = false; + testStatusPub.publish(boolean); + + //Node no longer needed + ros::shutdown(); + return; + } + } + else + { + //The robot has finished navigating to its initial position. Either the robot sucessfully made it to its + //initial position and the test will start or it failed and the robot will attempt to get to its initial + //position again + + //First reset the costmap before the test starts + if (!costmap_service.call(service_msg)) + { + ROS_WARN("Failed to clear costmaps"); + } + + //Determine if the robot made it to its initial position + if(ac->getState() == actionlib::SimpleClientGoalState::SUCCEEDED) + { + //Succeded at getting to its initial position, set initial_setup to true and get first test goal + + ROS_INFO("Robot sucessfully reached its initial position, now starting test"); + initial_setup = true; + + //Publish true to test_status + std_msgs::Bool boolean; + boolean.data = true; + testStatusPub.publish(boolean); + + //Get first goal + if (!goal_service.call(service_msg)) + { + ROS_ERROR("Failed to request for a goal"); + } + } + else + { + //Failed at getting to its initial position, request the initial goal again + + ROS_INFO("Robot failed to reach its initial position, attempting again"); + + //Get initial goal + if (!initial_goal_service.call(service_msg)) + { + ROS_ERROR("Failed to request for initial goal"); + } + } + } +} + +int main(int argc, char **argv) +{ + // Setup ros node and NodeHandle + ros::init(argc, argv, "mover_node"); + ros::NodeHandle n; + + //Subscribe to the goal topic + ros::Subscriber sub = n.subscribe("/obstacle_bot/goal", 1, goalCallback); + + //Publisher to show whether the test is being performed or not + testStatusPub = n.advertise("/ob_test_status", 1000, true); + + //Set up move base client and services + ac = new MoveBaseClient("obstacle_bot/move_base", true); + costmap_service = n.serviceClient("obstacle_bot/move_base/clear_costmaps"); + goal_service = n.serviceClient("get_new_goal"); + initial_goal_service = n.serviceClient("get_initial_goal"); + reset_goals_service = n.serviceClient("reset_goals"); + + //Set defaults + goals_reached = 0; + iterations = 0; + clear_costmaps = false; + initial_setup = false; + + //Get parameters + n.getParam(ros::this_node::getName() + "/iterations", iterations); + n.getParam(ros::this_node::getName() + "/clear_costmaps", clear_costmaps); + + //Publish false to test_status since the test does not start immediately + std_msgs::Bool boolean; + boolean.data = false; + testStatusPub.publish(boolean); + + //wait for the action server to come up + while (!ac->waitForServer(ros::Duration(5.0))) + { + ROS_INFO("Waiting for the move_base action server to come up"); + } + + //wait for services + costmap_service.waitForExistence(); + goal_service.waitForExistence(); + initial_goal_service.waitForExistence(); + reset_goals_service.waitForExistence(); + + std_srvs::Empty service_msg; + + //clear the initial costmaps + if (!costmap_service.call(service_msg)) + { + ROS_WARN("Failed to clear costmaps"); + } + + //Call the reset goal service to ensure that the first test goal is the correct goal + if (!reset_goals_service.call(service_msg)) + { + ROS_ERROR("Failed to reset goals"); + } + + //Call the initial goal service to move the robots to their initial positions + ROS_INFO("Navigating to initial test position"); + if (!initial_goal_service.call(service_msg)) + { + ROS_ERROR("Failed to request initial goal"); + } + + //Keeps the node running and performs necessary updates + ros::spin(); + + return 0; +} diff --git a/src/obstacle_bot.cpp b/src/obstacle_bot.cpp index 22d7241..7efe034 100644 --- a/src/obstacle_bot.cpp +++ b/src/obstacle_bot.cpp @@ -2,6 +2,7 @@ #include #include +#include #include #include #include @@ -13,6 +14,7 @@ typedef actionlib::SimpleActionClient MoveBaseCl MoveBaseClient *ac; ros::ServiceClient costmap_service; ros::ServiceClient goal_service; +ros::Publisher testStatusPub; void goalCallback(uml_hri_nerve_navigation::Goal goal_msg) { @@ -57,16 +59,24 @@ void goalCallback(uml_hri_nerve_navigation::Goal goal_msg) int main(int argc, char **argv) { // Setup ros node and NodeHandle - ros::init(argc, argv, "mover_node"); + ros::init(argc, argv, "ob_mover_node"); ros::NodeHandle n; //Subscribe to the goal topic - ros::Subscriber sub = n.subscribe("goal", 10, goalCallback); + ros::Subscriber sub = n.subscribe("/goal", 10, goalCallback); - ac = new MoveBaseClient("move_base", true); - costmap_service = n.serviceClient("move_base/clear_costmaps"); +// ros::Publisher testStatusPub = n.advertise("/test_status", 1000); +// testStatusPub.publish(true); + + testStatusPub = n.advertise("/ob_test_status", 1000, true); + + ac = new MoveBaseClient("/obstacle_bot/move_base", true); + costmap_service = n.serviceClient("/obstacle_bot/move_base/clear_costmaps"); goal_service = n.serviceClient("get_new_goal"); + std_msgs::Bool boolean; + boolean.data = true; + testStatusPub.publish(boolean); //wait for the action server to come up while (!ac->waitForServer(ros::Duration(5.0))) { @@ -87,4 +97,5 @@ int main(int argc, char **argv) ros::spin(); return 0; -} \ No newline at end of file +} + diff --git a/src/robot_checker.cpp b/src/robot_checker.cpp new file mode 100644 index 0000000..933dbbb --- /dev/null +++ b/src/robot_checker.cpp @@ -0,0 +1,199 @@ +/* + The robot checker node contains the code which compares the robots odom and the goal positions for determining if the robots reached their goals. The robot checker also + determines if the robots havent moved for some amount of seconds (currently set to 45). If the robots reaches the goal or if the robots havent moved for 45 seconds, then + the robot checker node would shut itself down. +*/ + +#include +#include +#include +#include +#include +#include + +using namespace std; + +int seconds = 0; + +vector robot_odoms; +vector robot_goals; +vector robots_reached; +vector robots_stuck; +vector prev_odom_readings; +vector robot_names; + +// functions for sorting the odom and goal_pose vectors +bool checkGreaterOdom(nav_msgs::Odometry first, nav_msgs::Odometry last){ + return (first.header.frame_id < last.header.frame_id); +} + +bool checkGreaterGoal(geometry_msgs::PoseStamped first, geometry_msgs::PoseStamped last){ + return (first.header.frame_id < last.header.frame_id); +} + +bool kill_node = false; +bool swapped = false; +int counter = 0; + +// callbacks +void goal_callback(geometry_msgs::PoseStamped goal_msg){ + bool goal_found = false; + for (int i = 0; i < robot_goals.size(); ++i) { + if (robot_goals[i].header.frame_id == goal_msg.header.frame_id) { + goal_found = true; + break; + } + } + if (!goal_found){ + robot_goals.push_back(goal_msg); + } +} + +void odom_callback(nav_msgs::Odometry msg){ + bool odom_found = false; + for (int i = 0; i < robot_odoms.size(); ++i){ + if (robot_odoms[i].header.frame_id == msg.header.frame_id){ + robot_odoms[i] = msg; + odom_found = true; + break; + } + } + if (!odom_found){ + robot_odoms.push_back(msg); + } +} + +// functions which compares the odom with goal position for checking if the robots reached their goals +void checkGoalsReached(vector odom_vector, vector goal_vector){ + cout << "CHECKER_NODE: COMPARING TWO POSITIONS" << endl; + ROS_WARN("CHECKER_NODE: COMPARING TWO POSITIONS"); + + bool found; + if (robots_reached.size() == odom_vector.size()){ + kill_node = true; + } + for(int i = 0; i < odom_vector.size(); ++i){ + + cout << "CHECKER_NODE: ODOM: " << odom_vector[i].pose.pose.position.x << ", GOAL: " << goal_vector[i].pose.position.x << endl; + + found = false; + if (abs(odom_vector[i].pose.pose.position.x - goal_vector[i].pose.position.x) <= 0.65 + && abs(odom_vector[i].pose.pose.position.y - goal_vector[i].pose.position.y) <= 0.65 + && abs(odom_vector[i].pose.pose.orientation.w - goal_vector[i].pose.orientation.w) < 0.02) { + for (int j = 0; j < robots_reached.size(); ++j){ + if (robots_reached[j] == odom_vector[i].header.frame_id){ + found = true; + } + } + if (!found){ + string temp; + stringstream ss(odom_vector[i].header.frame_id); + getline(ss, temp, '/'); + cout << temp << " successfully reached its goal...." << endl; + robots_reached.push_back(odom_vector[i].header.frame_id); + } + } + } +} + +// function for checking if the robots havent moved for 45 seconds (if they havent reached their goals already) +void checkRobotsStuck (vector odom_vector, vector goal_vector){ + bool robots_stuck = false; + if (prev_odom_readings.size() == 0){ + for (int i = 0; i < odom_vector.size(); ++i){ + prev_odom_readings.push_back(odom_vector[i]); + } + } + else{ + for (int i = 0; i < prev_odom_readings.size(); ++i){ + if (abs(prev_odom_readings[i].pose.pose.position.x - odom_vector[i].pose.pose.position.x) < 0.1 + && abs(prev_odom_readings[i].pose.pose.position.y - odom_vector[i].pose.pose.position.y) < 0.1 + && (abs(odom_vector[i].pose.pose.position.x - goal_vector[i].pose.position.x) > 0.4 + || abs(odom_vector[i].pose.pose.position.y - goal_vector[i].pose.position.y) > 0.4)){ + string temp; + stringstream ss(odom_vector[i].header.frame_id); + getline(ss, temp, '/'); + cout << seconds << " seconds passed, " << temp << " hasnt moved" << endl; + robots_stuck = true; + } + prev_odom_readings[i] = odom_vector[i]; + } + if (robots_stuck && seconds >= 45){ + cout << "Shutting down the node due to robot(s) being stuck" << endl; + kill_node = true; + return; + } + } +} + +// function for another thread for getting the time +void time_counter(chrono::steady_clock::time_point start){ + fstream outFile; + while(true) { + sleep(1); + auto end = std::chrono::steady_clock::now(); + double time_elapsed = double(std::chrono::duration_cast(end - start).count()); + int minutes; + seconds = time_elapsed/1e9; + } +} + +int main(int argc, char** argv){ + bool vectors_sorted = false; + ros::init(argc, argv, "robot_checker_node"); + ros::NodeHandle nh; + + auto start = std::chrono::steady_clock::now(); + + // another thread is started for counting time + thread time_counter_thread(time_counter, start); + string robot_names_str = "pioneer,pioneer_bot"; + + nh.getParam(ros::this_node::getName()+"/robot_names",robot_names_str); + + string odom_topic_name = " "; + string goal_topic_name = " "; + vector odom_topic_names; + vector goal_topic_names; + + vector odom_subs; + vector goal_subs; + + // the robot names string is seperated into robot namespaces under the loop, also odoms and goal_poses are subscribed + stringstream ss(robot_names_str); + while(ss.good()){ + string temp; + getline(ss, temp, ','); + robot_names.push_back(temp); + odom_topic_name = temp + "/odom"; + goal_topic_name = temp + "/goal_pose"; + odom_subs.push_back(nh.subscribe(odom_topic_name, 1, odom_callback)); + goal_subs.push_back(nh.subscribe(goal_topic_name, 1, goal_callback)); + } + + ros::Rate rate(1); + while(ros::ok()){ + // if the odoms and goal_pose are subscribed then the odom and goal_pose vector are sorted (makes it easy for comparing) + if (!vectors_sorted && robot_odoms.size() == odom_subs.size()){ + time_counter_thread.detach(); + sort(robot_odoms.begin(), robot_odoms.end(), checkGreaterOdom); + sort(robot_goals.begin(), robot_goals.end(), checkGreaterGoal); + vectors_sorted = true; + } + else if (vectors_sorted){ + checkGoalsReached(robot_odoms, robot_goals); + // every 15 seconds check if the robots are stuck + if (seconds != 0 && seconds % 15 == 0){ + checkRobotsStuck(robot_odoms, robot_goals); + } + // the kill_node boolean is true then the node should shut down + if (kill_node){ + ros::shutdown(); + } + } + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/src/rosaria_odom_filter.cpp b/src/rosaria_odom_filter.cpp new file mode 100644 index 0000000..2f1fb10 --- /dev/null +++ b/src/rosaria_odom_filter.cpp @@ -0,0 +1,40 @@ +#include +#include +#include + +// global variables +ros::Publisher new_odom_pub; +double offset_x, offset_y; + +// odom callback +void odom_callback(nav_msgs::Odometry msg) { + nav_msgs::Odometry new_msg; + new_msg = msg; + new_msg.pose.pose.position.x += offset_x; + new_msg.pose.pose.position.y += offset_y; + ROS_INFO("NEW ODOM POSITION: %f, %f", new_msg.pose.pose.position.x, new_msg.pose.pose.position.y); + new_odom_pub.publish(new_msg); +} + +int main(int argc, char* argv[]) { + ros::init(argc, argv, "rosaria_odom_filter"); + ros::NodeHandle nh; + std::string initial_topic_name, filtered_topic_name; + + nh.getParam(ros::this_node::getName()+"/offset_x",offset_x); + nh.getParam(ros::this_node::getName()+"/offset_y",offset_y); + nh.getParam(ros::this_node::getName()+"/odom_topic",initial_topic_name); + nh.getParam(ros::this_node::getName()+"/filtered_odom_topic",filtered_topic_name); + + new_odom_pub = nh.advertise(filtered_topic_name, 1000, true); + + ros::Subscriber odom_sub = nh.subscribe(initial_topic_name, 1000, odom_callback); + + ros::Rate loop_rate(1); + while(ros::ok()) { + ros::spinOnce(); + loop_rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/src/test_runner.cpp b/src/test_runner.cpp new file mode 100644 index 0000000..eea3f4f --- /dev/null +++ b/src/test_runner.cpp @@ -0,0 +1,626 @@ +/* + This file contains the TestRunner class which takes in a JSON file which should contains the definition of the test scenario which would be running multiple + times automatically. The JSON file is parsed when a TestRunner object is created. The TestRunner class contains two member functions for running the test + scenarios repeatedly, run_test_repeatedly and run_test_in_person. run_test_repeatedly quits and restarts all the launch files after an iteration is ended, + while run_test_in_person starts the simulation and map_server only once and waits for user input (through a message being published) before beginning another + iteration of the test (which is useful for in-person testing). +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace nlohmann; +int flag; + +int iteration = 1; + +bool gazebo_active = false; +bool map_active = false; +bool tuw_active = false; + +string tester_status = ""; +ros::Publisher tester_status_pub; + +double xOdom, yOdom; +double xGoal, yGoal; + +map odom_map; +map goal_pose_map; + +std::fstream oStream; + + +float distance(float x1, float y1, float x2, float y2) +{ + float dx = x2 - x1; + float dy = y2 - y1; + return sqrt(dx * dx + dy * dy); +} + +// callbacks +void tester_callback(std_msgs::String msg){ + tester_status = msg.data; +} +void gazebo_callback(gazebo_msgs::ModelStates msg){ + gazebo_active = true; +} +void map_callback(nav_msgs::OccupancyGrid msg){ + map_active = true; +} +void odom_callback(nav_msgs::Odometry msg){ + // ROS_INFO("(%f, %f, %f)", msg.pose.pose.position.x, msg.pose.pose.position.y, msg.pose.pose.orientation.w); + xOdom = msg.pose.pose.position.x; + yOdom = msg.pose.pose.position.y; + oStream.open("pose.txt", std::ios::out); + oStream.setf(std::ios::fixed); + oStream.setf(std::ios::showpoint); + oStream.precision(2); + oStream << "Position: (" << xOdom << ", " << yOdom << ") | Distance from goal: " << distance(xGoal, yGoal, xOdom, yOdom) << std::endl; + oStream.close(); + string temp; + stringstream ss(msg.header.frame_id); + getline(ss, temp, '/'); + if (odom_map.find(temp) != odom_map.end() && odom_map[temp]) { return; } + odom_map[temp] = true; +} +void goal_pub_callback(geometry_msgs::PoseStamped msg){ + string temp; + stringstream ss(msg.header.frame_id); + getline(ss, temp, '/'); + if (goal_pose_map.find(temp) != goal_pose_map.end() && goal_pose_map[temp]) { return; } + goal_pose_map[temp] = true; +} +void tuw_callback(tuw_multi_robot_msgs::RobotInfo msg){ +// cout << "--------------------------------------------------- TUW IS RUNNING --------------------------------------------------------------" << endl; + tuw_active = true; +} + +// function for another thread +void tester_status_subscriber(vector robot_names){ + vector odom_subs, goal_pub_subs; + odom_subs.resize(robot_names.size()); + goal_pub_subs.resize(robot_names.size()); + + ros::NodeHandle nh; + + tester_status_pub = nh.advertise("tester_status", 1000, true); + ros::Subscriber tester_status_sub = nh.subscribe("tester_status", 1000, tester_callback); + ros::Subscriber gazebo_sub = nh.subscribe("gazebo/model_states", 1000, gazebo_callback); + ros::Subscriber map_sub = nh.subscribe("map", 1000, map_callback); + ros::Subscriber tuw_sub = nh.subscribe("robot_info", 1000, tuw_callback); + + + for (int i = 0; i < robot_names.size(); ++i){ + odom_map[robot_names[i]] = false; + goal_pose_map[robot_names[i]] = false; + string topic_name = robot_names[i] + "/odom"; + odom_subs[i] = nh.subscribe(topic_name, 1000, odom_callback); + topic_name = robot_names[i] + "/goal_pose"; + goal_pub_subs[i] = nh.subscribe(topic_name, 1000, goal_pub_callback); + } + + ros::Rate rate(1); + while(ros::ok()){ + ros::spinOnce(); + rate.sleep(); + } +} + +// data structure for a robot +struct robot{ + string robot; + string robot_namespace; + double starting_position_x; + double starting_position_y; + double goal_position_x; + double goal_position_y; + string nav_config; +}; +typedef struct robot Robot; + +class TestRunner{ +private: + string map, world_name, robot_names_str, robot_goals_str; + int number_of_robots; + vector robots; + + // private function which resets booleans for the subscriber thread + void reset(){ + gazebo_active = false; + map_active = false; + tuw_active = false; + for (int i = 0; i < robots.size(); ++i){ + odom_map[robots[i].robot_namespace] = false; + goal_pose_map[robots[i].robot_namespace] = false; + } + } + +public: + TestRunner(json json_file){ + map = json_file.at("map").at("map_name"); + world_name = json_file.at("map").at("world_name"); + number_of_robots = json_file.at("robots").at("number_of_robots"); + robots.resize(number_of_robots); + string robot = "robot_"; + for (int i = 0, j = 1; j < number_of_robots + 1; ++i, ++j){ + string robot_name = robot + to_string(j); + robots[i].robot = json_file.at("robots").at(robot_name).at("robot"); + robots[i].robot_namespace = json_file.at("robots").at(robot_name).at("robot_namespace"); + + robots[i].starting_position_x = json_file.at("robots").at(robot_name).at("starting_position")[0]; + robots[i].starting_position_y = json_file.at("robots").at(robot_name).at("starting_position").at(1); + + robots[i].goal_position_x = json_file.at("robots").at(robot_name).at("goal_position")[0]; + robots[i].goal_position_y = json_file.at("robots").at(robot_name).at("goal_position").at(1); + + robots[i].nav_config = json_file.at("robots").at(robot_name).at("nav_config"); + } + for (int i = 0; i < robots.size(); ++i){ + robot_names_str += robots[i].robot_namespace; + robot_goals_str += to_string(robots[i].goal_position_x) + "," + to_string(robots[i].goal_position_y); + if (i != robots.size() - 1){ + robot_names_str += ","; + robot_goals_str += ","; + } + } + xGoal = robots[0].goal_position_x; + yGoal = robots[0].goal_position_y; + } + + // returns a vector with robot namespaces + vector get_robot_names(){ + vector temp; + for (int i = 0; i < robots.size(); ++i){ + temp.push_back(robots[i].robot_namespace); + } + return temp; + } + + void run_test(){ + cout << "Running the test with " << number_of_robots << " robots" << " with the test config: " << robots[0].nav_config << endl; + string out = " > output.txt &"; + // launch gazebo (in background using &) + string launch_gazebo = "roslaunch uml_hri_nerve_nav_sim_resources spawn_world.launch world_path:=" + world_name + ".world" + out; + system(launch_gazebo.c_str()); + while(!gazebo_active); + + // launch map (in background using &) + string launch_map = "roslaunch uml_hri_nerve_navigation map_server.launch map_name:=" + map + out; + system(launch_map.c_str()); + while (!map_active); + + // launch robots, nav stack, loggers, if tuw (launch tuw nodes) (in background using &) setup_pionner_mbf.launch + string launch_robot; + string launch_goal_pub; + for (int i = 0; i < number_of_robots; ++i){ + launch_robot = "roslaunch uml_hri_nerve_navigation setup_pioneer_mbf.launch x:=" + to_string(robots[i].starting_position_x) + + " y:=" + to_string(robots[i].starting_position_y) + " robot_name:=" + robots[i].robot_namespace + " iteration:=" + to_string(iteration) + out; + launch_goal_pub = "roslaunch uml_hri_nerve_navigation tester_goal_publisher.launch robot_name:=" + robots[i].robot_namespace + " goal_x:=" + + to_string(robots[i].goal_position_x) + " goal_y:=" + to_string(robots[i].goal_position_y) + out; + system(launch_robot.c_str()); + while (!odom_map[robots[i].robot_namespace]); + + system(launch_goal_pub.c_str()); + while (!goal_pose_map[robots[i].robot_namespace]); + } + + // --------------------CHANGE/CHECK world name THIS BEFORE RUNNING------------------------ + string launch_tuw = "roslaunch uml_hri_nerve_navigation tuw.launch mbf:=false rviz_cfg:=nerve_test1" + out; + system(launch_tuw.c_str()); + while (!tuw_active); + + // graph checker + string launch_graph_checker = "rosrun uml_hri_nerve_navigation graph_checker"; + system(launch_graph_checker.c_str()); + + // launch goals (in background using &) still need to figure out when to send goals + string launch_goal_sender = "roslaunch uml_hri_nerve_navigation multiple_robots_test_goal_sender.launch robot_names:=" + + robot_names_str + " robot_goals:=" + robot_goals_str + " test:=" + robots[0].nav_config + out; + system(launch_goal_sender.c_str()); + + // launch checker + string launch_checker = "roslaunch uml_hri_nerve_navigation robot_checker.launch robot_names:=" + robot_names_str + " > output.txt"; + system(launch_checker.c_str()); + + // pkill roslaunch + string kill_test = "pkill roslaunch"; + system(kill_test.c_str()); + + // checking if roscore died + while(ros::master::check()); + cout << "MASTER HAS DIED" << endl << endl; + + // reset(); + + // pauses the code until any keyboard input is received (not required?) + int flag; + cout << "Program is paused !\n" << + "Press Enter to continue\n"; + flag = getc(stdin); + cout << "\nContinuing ."; + + sleep(1); + } + + // function runs the run_test functions of n (iterations) times + void run_test_repeatedly(int iterations){ + for (int i = 0; i < iterations; ++i) { + cout << "Running Iteration " << i + 1 << endl; + run_test(); + cout << "Iteration " << i + 1 << " is finished" << endl; + cout << endl; + } + } + + // function for running test when using physical robots (launches gazebo and map server only onces) (quicker than the other one) + void run_test_in_person(int iterations){ + cout << "Running the test with " << number_of_robots << " robots" << " with the test config: " << robots[0].nav_config << endl; + string out = " &"; + string launch_gazebo = "roslaunch --log uml_hri_nerve_nav_sim_resources spawn_world.launch world_path:=" + world_name + ".world" + out; + system(launch_gazebo.c_str()); + while(!gazebo_active); + + // launch map (in background using &) + string launch_map = "roslaunch uml_hri_nerve_navigation map_server.launch map_name:=" + map + out; + system(launch_map.c_str()); + while (!map_active); + + for (int j = 0; j < iterations; ++j){ + // publishing a pause message to avoid running another iteration without an input from user + std_msgs::String status; + status.data = "pause"; + tester_status_pub.publish(status); + + // launch robots, nav stack, loggers, if tuw (launch tuw nodes) (in background using &) setup_pionner_mbf.launch + string launch_robot; + string launch_goal_pub; + for (int i = 0; i < number_of_robots; ++i){ + launch_robot = "roslaunch uml_hri_nerve_navigation setup_pioneer_mbf.launch x:=" + to_string(robots[i].starting_position_x) + + " y:=" + to_string(robots[i].starting_position_y) + " robot_name:=" + robots[i].robot_namespace + " iteration:=" + to_string(iteration) + out; + + launch_goal_pub = "roslaunch uml_hri_nerve_navigation tester_goal_publisher.launch robot_name:=" + robots[i].robot_namespace + " goal_x:=" + + to_string(robots[i].goal_position_x) + " goal_y:=" + to_string(robots[i].goal_position_y) + out; + + system(launch_robot.c_str()); + while (!odom_map[robots[i].robot_namespace]); + system(launch_goal_pub.c_str()); + while (!goal_pose_map[robots[i].robot_namespace]); + } + + if (robots[0].nav_config == "tuw" || robots[0].nav_config == "tuw_mbf"){ + string launch_tuw = "roslaunch --log uml_hri_nerve_navigation tuw.launch mbf:=true" + out; + system(launch_tuw.c_str()); + while (!tuw_active); + + // graph checker + string launch_graph_checker = "rosrun uml_hri_nerve_navigation graph_checker"; + system(launch_graph_checker.c_str()); + + // launch goals (in background using &) still need to figure out when to send goals + string launch_goal_sender = "roslaunch --log uml_hri_nerve_navigation multiple_robots_test_goal_sender.launch robot_names:=" + + robot_names_str + " robot_goals:=" + robot_goals_str + " test:=" + robots[0].nav_config + " num_robots:=" + to_string(number_of_robots) + out; + system(launch_goal_sender.c_str()); + } + else{ + string launch_goal_sender = "roslaunch --log uml_hri_nerve_navigation multiple_robots_test_goal_sender.launch robot_names:=" + + robot_names_str + " robot_goals:=" + robot_goals_str + " test:=" + robots[0].nav_config + out; + system(launch_goal_sender.c_str()); + } + + // launch checker + string launch_checker = "roslaunch uml_hri_nerve_navigation robot_checker.launch robot_names:=" + robot_names_str + " > checker_output.txt "; + system(launch_checker.c_str()); + + int flag; + cout << "Program is paused !\n" << + "Press Enter to continue\n"; + flag = getc(stdin); + cout << "\nContinuing ."; + + cout << "--------------------------------------------- TIME TO RESET --------------------------------------------- " << endl; + // reset_robot(); + cout << "--------------------------------------------- RESET DONE --------------------------------------------- " << endl; + + string end_iteration = "rosnode list | grep -v gazebo | grep -v rosout | grep -v map | grep -v test_runner | xargs rosnode kill" + out; + system(end_iteration.c_str()); + + for (int i = 0; i < number_of_robots; ++i){ + string delete_robot = "rosservice call gazebo/delete_model '{model_name: " + robots[i].robot_namespace + "}'"; + system(delete_robot.c_str()); + } + + // waits for a "continue" to received from /tester_status topic + if (j != iterations-1){ + while(tester_status != "continue"); + } + } + + // kills all launch files + system("pkill roslaunch"); + while(ros::master::check()); + cout << "MASTER HAS DIED" << endl << endl; + } + + void in_person_test(){ + // oStream.open(file_path_print.c_str(), std::ios::out); + // oStream << "Position: (0.00, 0.00) | Distance from goal: 0.00" << std::endl; + // oStream.close(); + + string out = " &"; + + // launch map server + // string launch_map = "roslaunch uml_hri_nerve_navigation map_server.launch map_name:=" + map + out; + string launch_map = "roslaunch uml_hri_nerve_navigation map_server.launch" + out; + system(launch_map.c_str()); + while (!map_active); + + // launch goal pub for the checker and loggers + string launch_robot, launch_goal_pub, launch_tuw_logger_node; + for (int i = 0; i < number_of_robots; ++i){ + // launch_robot = "roslaunch uml_hri_nerve_navigation setup_pioneer_mbf.launch x:=" + to_string(robots[i].starting_position_x) + + // " y:=" + to_string(robots[i].starting_position_y) + " robot_name:=" + robots[i].robot_namespace + " iteration:=" + to_string(iteration) + out; + launch_robot = "roslaunch uml_hri_nerve_navigation setup_pioneer_mbf.launch simulation:=false x:=" + to_string(robots[i].starting_position_x) + + " y:=" + to_string(robots[i].starting_position_y) + " robot_name:=" + robots[i].robot_namespace + " iteration:=" + to_string(iteration) + out; + + launch_goal_pub = "roslaunch uml_hri_nerve_navigation tester_goal_publisher.launch robot_name:=" + robots[i].robot_namespace + " goal_x:=" + + to_string(robots[i].goal_position_x) + " goal_y:=" + to_string(robots[i].goal_position_y) + out; + cout << "GOAL POSE FOR " << robots[i].robot_namespace << " is: (" << robots[i].goal_position_x << ", " << robots[i].goal_position_y << ") " << endl; + system(launch_robot.c_str()); + while (!odom_map[robots[i].robot_namespace]); + + system(launch_goal_pub.c_str()); + while (!goal_pose_map[robots[i].robot_namespace]); + } + + int flag; + // cout << "Program is paused !\n" << + // "Press Enter to continue\n"; + // flag = getc(stdin); + // cout << "\nContinuing ."; + + if (robots[0].nav_config == "tuw" || robots[0].nav_config == "tuw_mbf"){ + // launch tuw + string launch_tuw = "roslaunch uml_hri_nerve_navigation tuw.launch mbf:=true" + out; + system(launch_tuw.c_str()); + while (!tuw_active); + + string launch_graph_checker = "rosrun uml_hri_nerve_navigation graph_checker"; + system(launch_graph_checker.c_str()); + + for (int i = 0; i < number_of_robots; ++i){ + launch_tuw_logger_node = "roslaunch uml_hri_nerve_navigation tuw_logger.launch robot:=" + robots[i].robot_namespace + out; + system(launch_tuw_logger_node.c_str()); + } + } + + + // cout << "Program is paused !\n" << + // "Press Enter to continue\n"; + // flag = getc(stdin); + // cout << "\nContinuing ."; + + // launch goal sender + string launch_goal_sender = "roslaunch uml_hri_nerve_navigation multiple_robots_test_goal_sender.launch robot_names:=" + + robot_names_str + " robot_goals:=" + robot_goals_str + " test:=" + robots[0].nav_config + out; + system(launch_goal_sender.c_str()); + + + // launch checker + // string launch_checker = "roslaunch uml_hri_nerve_navigation robot_checker.launch robot_names:=" + robot_names_str + ""; + string launch_checker = "roslaunch uml_hri_nerve_navigation tester_checker.launch robot_names:=" + robot_names_str + ""; + system(launch_checker.c_str()); + + sleep(0.5); + + // cout << "Program is paused !\n" << + // "Press Enter to continue\n"; + // flag = getc(stdin); + // cout << "\nContinuing ."; + + string end_iteration; + + end_iteration = "rosnode list | grep -v rosaria | grep -v rosout | grep -v hokuyo | grep -v test_runner | grep -v rviz | xargs rosnode kill" + out; + system(end_iteration.c_str()); + sleep(1); + reset_robot(); + + end_iteration = "rosnode list | grep -v rosaria | grep -v rosout | grep -v hokuyo | grep -v test_runner | grep -v rviz | xargs rosnode kill" + out; + system(end_iteration.c_str()); + } + + void reset_robot(){ + string out = " &"; + + // if (robots[0].nav_config == "tuw" || robots[0].nav_config == "tuw_mbf"){ + // system("rosnode kill multi_robot_router"); + // system("rosnode kill rviz"); + // system("rosnode kill graph_generator"); + + // string kill_goal_sender = "rosnode kill tuw_goal_sender_node"; + // system(kill_goal_sender.c_str()); + // cout << "----------------- KILLED THE GOAL SENDER" << endl; + // } + + int flag; + + // string topic1, topic2, topic3; + // for (int i = 0; i < number_of_robots; ++i){ + // topic1 = "rosnode kill " + robots[i].robot_namespace + "/link1_broadcaster"; + // topic2 = "rosnode kill " + robots[i].robot_namespace + "/local_behavior"; + // topic3 = "rosnode kill " + robots[i].robot_namespace + "/self_localization"; + // system(topic1.c_str()); + // system(topic2.c_str()); + // system(topic3.c_str()); + // } + + + // cout << "--------------------------------------------------------------------------------------Program is paused !\n" << + // "Press Enter to continue-------------------------------------------------------------------------------------\n"; + // flag = getc(stdin); + // cout << "\nContinuing ."; + + xGoal = robots[0].starting_position_x; + yGoal = robots[0].starting_position_x; + + string launch_map = "roslaunch uml_hri_nerve_navigation map_server.launch" + out; + system(launch_map.c_str()); + while (!map_active); + + // launch goal pub + string launch_goal_pub, launch_robot; + string robot_reset_goals_str = ""; + for (int i = 0; i < number_of_robots; ++i){ + launch_robot = "roslaunch uml_hri_nerve_navigation setup_pioneer_mbf.launch x:=" + to_string(robots[i].goal_position_x) + + " y:=" + to_string(robots[i].goal_position_y) + " robot_name:=" + robots[i].robot_namespace + " iteration:=" + to_string(iteration) + out; + system(launch_robot.c_str()); + while (!odom_map[robots[i].robot_namespace]); + + launch_goal_pub = "roslaunch uml_hri_nerve_navigation tester_goal_publisher.launch robot_name:=" + robots[i].robot_namespace + " goal_x:=" + + to_string(robots[i].starting_position_x) + " goal_y:=" + to_string(robots[i].starting_position_y) + out; + system(launch_goal_pub.c_str()); + while (!goal_pose_map[robots[i].robot_namespace]); + robot_reset_goals_str += to_string(robots[i].starting_position_x) + "," + to_string(robots[i].starting_position_y); + if (i != number_of_robots - 1){ + robot_reset_goals_str += ","; + } + } + + + // cout << "--------------------------------------------------------------------------------------Program is paused !\n" << + // "Press Enter to continue-------------------------------------------------------------------------------------\n"; + // flag = getc(stdin); + // cout << "\nContinuing ."; + + if (robots[0].nav_config == "tuw" || robots[0].nav_config == "tuw_mbf"){ + // launch tuw + string launch_tuw = "roslaunch --log uml_hri_nerve_navigation tuw.launch mbf:=true &"; + system(launch_tuw.c_str()); + while (!tuw_active); + + string launch_graph_checker = "rosrun uml_hri_nerve_navigation graph_checker"; + system(launch_graph_checker.c_str()); + } + + + // cout << "--------------------------------------------------------------------------------------Program is paused !\n" << + // "Press Enter to continue-------------------------------------------------------------------------------------\n"; + // flag = getc(stdin); + // cout << "\nContinuing ."; + + + // send goals + string launch_goal_sender = "roslaunch --log uml_hri_nerve_navigation multiple_robots_test_goal_sender.launch r1_goal_x:=0.29 r1_goal_y:=2.72 robot_names:=" + + robot_names_str + " robot_goals:=" + robot_reset_goals_str + " test:=" + robots[0].nav_config + " num_robots:=" + to_string(number_of_robots) + out; + system(launch_goal_sender.c_str()); + + cout << "----------------------------------- LAUNCHED THE MOVER" << endl; + // checker + // string launch_checker = "roslaunch uml_hri_nerve_navigation robot_checker.launch robot_names:=" + robot_names_str + ""; + // system(launch_checker.c_str()); + string launch_checker = "roslaunch uml_hri_nerve_navigation tester_checker.launch robot_names:=" + robot_names_str + ""; + system(launch_checker.c_str()); + sleep(0.5); + + // cout << "Program is paused !\n" << + // "Press Enter to continue\n"; + // flag = getc(stdin); + // cout << "\nContinuing ."; + + } + + void run_in_person_test_repeatedly(int iterations){ + for (int i = 0; i < iterations; ++i){ + cout << "----------------------------------------------- RUNNING ITERATION: " << i + 1 << + " -----------------------------------------------" << endl; + + in_person_test(); + + cout << "----------------------------------------------- ENDING ITERATION: " << i + 1 << + " -----------------------------------------------" << endl; + + // system("rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=pioneer/cmd_vel"); + + // while(tester_status != "continue"); + // tester_status = "pause"; + + sleep(2); + // cout << "Program is paused !\n" << + // "Press Enter to continue\n"; + // flag = getc(stdin); + // cout << "\nContinuing ."; + + xGoal = robots[0].goal_position_x; + yGoal = robots[0].goal_position_y; + + // system("rosnode kill /teleop_twist_keyboard"); + } + } +}; + +void time_counter(chrono::steady_clock::time_point start){ + fstream outFile; + while(true) { + sleep(1); + auto end = std::chrono::steady_clock::now(); + double time_elapsed = double(std::chrono::duration_cast(end - start).count()); + int minutes; int seconds; + double time_elapsed_sec = time_elapsed/1e9; + if (time_elapsed_sec <= 60){ + minutes = 0; + seconds = time_elapsed_sec; + } + else{ + minutes = time_elapsed_sec/60; + seconds = (int)time_elapsed_sec % 60; + } + outFile.open("time.txt", ios::out); + outFile << setw(2) << setfill('0') << minutes << ":" << setw(2) << setfill('0') << seconds << std::endl; + outFile.close(); + } +} + +int main (int argc, char** argv){ + ros::init(argc, argv, "test_runner"); + auto start = std::chrono::steady_clock::now(); + + thread time_counter_thread(time_counter, start); + time_counter_thread.detach(); + + string file_path = " ", file_name = " "; + int num_iterations = 2; + + file_name = "test_1.json"; + file_path = "src/uml_hri_nerve_navigation/test_defs/" + file_name; + + fstream file(file_path, ios::in); // file path is in the directory where the executable is + json json_file = json::parse(file); + TestRunner test_runner(json_file); + + // starting the other thread + thread subscriberThread(tester_status_subscriber, test_runner.get_robot_names()); + subscriberThread.detach(); + + // test_runner.run_in_person_test_repeatedly(2); + cout << "THE CODE IS RUNNING TILL HERE: 1" << endl; + test_runner.run_in_person_test_repeatedly(3); + + system("clear"); + + ros::shutdown(); + + return 0; +} \ No newline at end of file diff --git a/src/tester_checker.cpp b/src/tester_checker.cpp new file mode 100644 index 0000000..cad1e69 --- /dev/null +++ b/src/tester_checker.cpp @@ -0,0 +1,257 @@ +/* + The robot checker node contains the code which compares the robots odom and the goal positions for determining if the robots reached their goals. The robot checker also + determines if the robots havent moved for some amount of seconds (currently set to 45). If the robots reaches the goal or if the robots havent moved for 45 seconds, then + the robot checker node would shut itself down. +*/ + +#include +#include +#include +#include +#include +#include + +using namespace std; + +int seconds = 0; + +vector robot_odoms; +vector robot_goals; +vector robot_map_poses; + +vector robots_reached; +vector robots_stuck; +vector prev_odom_readings; +vector robot_names; + +// functions for sorting the odom and goal_pose vectors +bool checkGreaterOdom(nav_msgs::Odometry first, nav_msgs::Odometry last){ + return (first.header.frame_id < last.header.frame_id); +} + +bool checkGreaterGoal(geometry_msgs::PoseStamped first, geometry_msgs::PoseStamped last){ + return (first.header.frame_id < last.header.frame_id); +} + + +bool kill_node = false; +bool swapped = false; +int counter = 0; + +// callbacks +void goal_callback(geometry_msgs::PoseStamped goal_msg){ + bool goal_found = false; + for (int i = 0; i < robot_goals.size(); ++i) { + if (robot_goals[i].header.frame_id == goal_msg.header.frame_id) { + goal_found = true; + break; + } + } + if (!goal_found){ + robot_goals.push_back(goal_msg); + } +} + +void odom_callback(nav_msgs::Odometry msg){ + bool odom_found = false; + for (int i = 0; i < robot_odoms.size(); ++i){ + if (robot_odoms[i].header.frame_id == msg.header.frame_id){ + robot_odoms[i] = msg; + odom_found = true; + break; + } + } + if (!odom_found){ + robot_odoms.push_back(msg); + } +} + +void map_pose_callback(geometry_msgs::PoseStamped map_pose_msg) { + bool map_pose_found = false; + for (int i = 0; i < robot_map_poses.size(); ++i) { + if (robot_map_poses[i].header.frame_id == map_pose_msg.header.frame_id) { + robot_map_poses[i] = map_pose_msg; + map_pose_found = true; + break; + } + } + if (!map_pose_found) { + robot_map_poses.push_back(map_pose_msg); + } +} + +void checkGoalsStatus(vector map_pose_vector, vector goal_vector) { + ROS_WARN("CHECKER_NODE: COMPARING TWO POSITIONS"); + bool found; + if (robots_reached.size() == map_pose_vector.size()){ + kill_node = true; + } + for(int i = 0; i < map_pose_vector.size(); ++i){ + + cout << "CHECKER_NODE: ODOM: " << map_pose_vector[i].pose.position.x << ", GOAL: " << goal_vector[i].pose.position.x << endl; + ROS_INFO("MAP_POSE: %f, %f | GOAL_POSE: %f, %f", map_pose_vector[i].pose.position.x, map_pose_vector[i].pose.position.y, goal_vector[i].pose.position.x, goal_vector[i].pose.position.y); + found = false; + if (abs(map_pose_vector[i].pose.position.x - goal_vector[i].pose.position.x) <= 0.5 + && abs(map_pose_vector[i].pose.position.y - goal_vector[i].pose.position.y) <= 0.5 + && abs(map_pose_vector[i].pose.orientation.w - goal_vector[i].pose.orientation.w) < 0.02) { + for (int j = 0; j < robots_reached.size(); ++j){ + if (robots_reached[j] == map_pose_vector[i].header.frame_id){ + found = true; + } + } + if (!found){ + string temp; + stringstream ss(map_pose_vector[i].header.frame_id); + getline(ss, temp, '/'); + cout << temp << " successfully reached its goal...." << endl; + robots_reached.push_back(map_pose_vector[i].header.frame_id); + } + } + } +} + +// functions which compares the odom with goal position for checking if the robots reached their goals +// void checkGoalsReached(vector odom_vector, vector goal_vector){ +// cout << "CHECKER_NODE: COMPARING TWO POSITIONS" << endl; +// ROS_WARN("CHECKER_NODE: COMPARING TWO POSITIONS"); + +// bool found; +// if (robots_reached.size() == odom_vector.size()){ +// kill_node = true; +// } +// for(int i = 0; i < odom_vector.size(); ++i){ + +// cout << "CHECKER_NODE: ODOM: " << odom_vector[i].pose.pose.position.x << ", GOAL: " << goal_vector[i].pose.position.x << endl; + +// found = false; +// if (abs(odom_vector[i].pose.pose.position.x - goal_vector[i].pose.position.x) <= 0.65 +// && abs(odom_vector[i].pose.pose.position.y - goal_vector[i].pose.position.y) <= 0.65 +// && abs(odom_vector[i].pose.pose.orientation.w - goal_vector[i].pose.orientation.w) < 0.02) { +// for (int j = 0; j < robots_reached.size(); ++j){ +// if (robots_reached[j] == odom_vector[i].header.frame_id){ +// found = true; +// } +// } +// if (!found){ +// string temp; +// stringstream ss(odom_vector[i].header.frame_id); +// getline(ss, temp, '/'); +// cout << temp << " successfully reached its goal...." << endl; +// robots_reached.push_back(odom_vector[i].header.frame_id); +// } +// } +// } +// } + +// function for checking if the robots havent moved for 45 seconds (if they havent reached their goals already) +void checkRobotsStuck (vector odom_vector, vector goal_vector){ + bool robots_stuck = false; + if (prev_odom_readings.size() == 0){ + for (int i = 0; i < odom_vector.size(); ++i){ + prev_odom_readings.push_back(odom_vector[i]); + } + } + else{ + for (int i = 0; i < prev_odom_readings.size(); ++i){ + if (abs(prev_odom_readings[i].pose.pose.position.x - odom_vector[i].pose.pose.position.x) < 0.1 + && abs(prev_odom_readings[i].pose.pose.position.y - odom_vector[i].pose.pose.position.y) < 0.1 + && (abs(odom_vector[i].pose.pose.position.x - goal_vector[i].pose.position.x) > 0.4 + || abs(odom_vector[i].pose.pose.position.y - goal_vector[i].pose.position.y) > 0.4)){ + string temp; + stringstream ss(odom_vector[i].header.frame_id); + getline(ss, temp, '/'); + cout << seconds << " seconds passed, " << temp << " hasnt moved" << endl; + robots_stuck = true; + } + prev_odom_readings[i] = odom_vector[i]; + } + if (robots_stuck && seconds >= 150){ + cout << "Shutting down the node due to robot(s) being stuck" << endl; + kill_node = true; + return; + } + } +} + +// function for another thread for getting the time +void time_counter(chrono::steady_clock::time_point start){ + fstream outFile; + while(true) { + sleep(1); + auto end = std::chrono::steady_clock::now(); + double time_elapsed = double(std::chrono::duration_cast(end - start).count()); + int minutes; + seconds = time_elapsed/1e9; + } +} + +int main(int argc, char** argv){ + bool vectors_sorted = false; + ros::init(argc, argv, "robot_checker_node"); + ros::NodeHandle nh; + + auto start = std::chrono::steady_clock::now(); + + // another thread is started for counting time + thread time_counter_thread(time_counter, start); + string robot_names_str = "pioneer,pioneer_bot"; + + nh.getParam(ros::this_node::getName()+"/robot_names",robot_names_str); + + string odom_topic_name = " "; + string goal_topic_name = " "; + string map_pose_topic_name = " "; + + // ---------- CAN REMOVE THIS -------------------- + vector odom_topic_names; + vector goal_topic_names; + vector map_pose_topic_names; + + vector odom_subs; + vector goal_subs; + vector map_pose_subs; + + // the robot names string is seperated into robot namespaces under the loop, also odoms and goal_poses are subscribed + stringstream ss(robot_names_str); + while(ss.good()){ + string temp; + getline(ss, temp, ','); + robot_names.push_back(temp); + odom_topic_name = temp + "/odom"; + goal_topic_name = temp + "/goal_pose"; + map_pose_topic_name = temp + "/map_pose"; + odom_subs.push_back(nh.subscribe(odom_topic_name, 1, odom_callback)); + goal_subs.push_back(nh.subscribe(goal_topic_name, 1, goal_callback)); + map_pose_subs.push_back(nh.subscribe(map_pose_topic_name, 1, map_pose_callback)); + } + + ros::Rate rate(1); + while(ros::ok()){ + // if the odoms and goal_pose are subscribed then the odom and goal_pose vector are sorted (makes it easy for comparing) + if (!vectors_sorted && robot_odoms.size() == map_pose_subs.size()){ + time_counter_thread.detach(); + sort(robot_odoms.begin(), robot_odoms.end(), checkGreaterOdom); + sort(robot_goals.begin(), robot_goals.end(), checkGreaterGoal); + sort(robot_map_poses.begin(), robot_map_poses.end(), checkGreaterGoal); + + vectors_sorted = true; + } + else if (vectors_sorted){ + // checkGoalsReached(robot_odoms, robot_goals); + checkGoalsStatus(robot_map_poses, robot_goals); + // every 15 seconds check if the robots are stuck + if (seconds != 0 && seconds % 15 == 0){ + checkRobotsStuck(robot_odoms, robot_goals); + } + // the kill_node boolean is true then the node should shut down + if (kill_node){ + ROS_ERROR("----------------------------------------------------------------------------------\n------------------------------------------------------------------------------------------\n--------------------------------------------------------------------------------------------\n--------------------------------------------------------------------------------------------\n--------------------------------------------------------------------------------------------\n--------------------------------------------------------------------------------------------\n----------------------------------------------------------------------------------------------"); + ros::shutdown(); + } + } + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/src/tester_goal_publisher.cpp b/src/tester_goal_publisher.cpp new file mode 100644 index 0000000..f33a067 --- /dev/null +++ b/src/tester_goal_publisher.cpp @@ -0,0 +1,36 @@ +#include +#include +#include +#include + +int main(int argc, char** argv) { + ros::init(argc, argv, "test_goal_publisher"); + ros::NodeHandle nh; + + std::string robot_name; + + float goal_x; + float goal_y; + + nh.getParam(ros::this_node::getName()+"/robot_name", robot_name); + nh.getParam(ros::this_node::getName()+"/goal_x", goal_x); + nh.getParam(ros::this_node::getName()+"/goal_y", goal_y); + + std::string topic_name = robot_name + "/goal_pose"; + ros::Publisher goal_pub = nh.advertise(topic_name, 1000, true); + + geometry_msgs::PoseStamped goal_pose; + goal_pose.header.frame_id = topic_name; + goal_pose.pose.position.x = goal_x; + goal_pose.pose.position.y = goal_y; + goal_pose.pose.orientation.w = 1; + + ros::Rate rate(1); + while(ros::ok()){ + goal_pub.publish(goal_pose); + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/src/tuw_goal_sender.cpp b/src/tuw_goal_sender.cpp new file mode 100644 index 0000000..171cf78 --- /dev/null +++ b/src/tuw_goal_sender.cpp @@ -0,0 +1,82 @@ +#include +#include +#include +#include +#include +#include + +using namespace std; + +int main(int argc, char** argv) { + ros::init(argc, argv, "tuw_goal_sender_node"); + ros::NodeHandle nh; + + int num_robots = 0; + string robot_names_str = " "; + string robot_goals_str = " "; + + vector robot_names; + vector> robot_goals; + + nh.getParam(ros::this_node::getName()+"/num_robots",num_robots); + nh.getParam(ros::this_node::getName()+"/robot_names",robot_names_str); + nh.getParam(ros::this_node::getName()+"/robot_goals",robot_goals_str); + + stringstream ss(robot_names_str); + while(ss.good()){ + string temp; + getline(ss, temp, ','); + robot_names.push_back(temp); + cout << "TEMP: " << temp; + } + + stringstream ss1(robot_goals_str); + while(ss1.good()){ + string temp; + pair temp_pair; + getline(ss1, temp, ','); + temp_pair.first = stod(temp); + getline(ss1, temp, ','); + temp_pair.second = stod(temp); + robot_goals.push_back(temp_pair); + } + + for(auto each:robot_goals){ + cout << "(" << each.first << ", " << each.second << ")" << endl; + } + + ros::Publisher goals_pub = nh.advertise("/goals", 1000, true); + + tuw_multi_robot_msgs::RobotGoalsArray goals; + + goals.header.frame_id = "map"; + goals.header.stamp = ros::Time::now(); + goals.header.seq = 0; + goals.robots.clear(); + goals.robots.resize(num_robots); + for (int i = 0; i < goals.robots.size(); ++i){ + goals.robots[i].robot_name = robot_names[i]; + goals.robots[i].destinations.clear(); + goals.robots[i].destinations.resize(1); + + goals.robots[i].destinations[0].position.x = robot_goals[i].first; + goals.robots[i].destinations[0].position.y = robot_goals[i].second; + goals.robots[i].destinations[0].position.z = 0.0; + goals.robots[i].destinations[0].orientation.x = 0.0; + goals.robots[i].destinations[0].orientation.y = 0.0; + goals.robots[i].destinations[0].orientation.z = 0.0; + goals.robots[i].destinations[0].orientation.w = 1; + + } + + goals_pub.publish(goals); + + ROS_INFO("Goal is published"); + ros::Rate rate(1); + while(ros::ok()){ + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/src/tuw_mb_mover.cpp b/src/tuw_mb_mover.cpp new file mode 100644 index 0000000..08c6587 --- /dev/null +++ b/src/tuw_mb_mover.cpp @@ -0,0 +1,84 @@ +#include +#include +#include +#include +#include +#include + + +typedef actionlib::SimpleActionClient MoveBaseClient; +float goal_x = 0.0; +float goal_y = 0.0; +float orientation_w = 0.0; + +void callback(const geometry_msgs::PoseStampedPtr& msg){ + geometry_msgs::PoseStamped goal = *msg; + if (goal_x == 0) goal_x = goal.pose.position.x; + if (goal_y == 0) goal_y = goal.pose.position.y; + if (orientation_w == 0) orientation_w = goal.pose.orientation.w; +} + +int main(int argc, char** argv) { + ros::init(argc, argv, "move_base_mover_node"); + ros::NodeHandle nh; + + std::string robot_name = "pioneer"; + nh.getParam(ros::this_node::getName()+"/robot_name",robot_name); + + std::string action_name = robot_name+"_move_base"; + std::string status_topic = robot_name+"/test_status"; + std::string goal_topic = robot_name+"/goal"; + + MoveBaseClient ac(action_name, true); + + ros::Publisher test_status_pub = nh.advertise(status_topic, 1000, true); + ros::Publisher goal_pub = nh.advertise(goal_topic, 1000, true); + ros::Subscriber goal_pos_subscriber = nh.subscribe(robot_name+"/goal_pose", 1000, callback); + + while (!ac.waitForServer(ros::Duration(5.0))) { + ROS_INFO("Waiting for the move_base action server to come up"); + } + + nh.getParam(ros::this_node::getName()+"/goal_x",goal_x); + nh.getParam(ros::this_node::getName()+"/goal_y",goal_y); + nh.getParam(ros::this_node::getName()+"/orientation_w",orientation_w); + + geometry_msgs::Pose2D goal_pose; + goal_pose.x = goal_x; + goal_pose.y = goal_y; + goal_pub.publish(goal_pose); + + move_base_msgs::MoveBaseGoal goal; + goal.target_pose.header.frame_id = "map"; + goal.target_pose.header.stamp = ros::Time::now(); + + goal.target_pose.pose.position.x = goal_x; + goal.target_pose.pose.position.y = goal_y; + goal.target_pose.pose.orientation.w = orientation_w; + + std_msgs::Bool boolean; + boolean.data = true; + test_status_pub.publish(boolean); + + ROS_INFO("Sending goal"); + ac.sendGoal(goal); + ac.waitForResult(); + + if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED) { + ROS_INFO("Goal is reached!"); + } + else if(ac.getState() == actionlib::SimpleClientGoalState::ABORTED) { + ROS_INFO("Goal aborted"); + } + else { + ROS_INFO("Robot failed to move"); + } + + ros::Rate rate(1); + while(ros::ok()){ + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/src/tuw_node.cpp b/src/tuw_node.cpp new file mode 100644 index 0000000..16549bd --- /dev/null +++ b/src/tuw_node.cpp @@ -0,0 +1,49 @@ +#include +#include +#include +#include +#include + +ros::Publisher goal_pub; + +void path_callback(const nav_msgs::PathConstPtr& msg){ + ROS_INFO("Path is received"); + nav_msgs::Path path_; + geometry_msgs::Pose2D goal; + + path_ = *msg; + + // Publishing goal + goal.x = path_.poses[path_.poses.size() - 1].pose.position.x; + goal.y = path_.poses[path_.poses.size() - 1].pose.position.y; + goal_pub.publish(goal); +} + +int main(int argc, char** argv){ + ros::init(argc, argv, "tuw_node"); + ros::NodeHandle nh; + + std::string robot_name = "pioneer"; + nh.getParam(ros::this_node::getName()+"/robot_name",robot_name); + + std::string status_topic = robot_name + "/test_status"; + std::string goal_topic = robot_name + "/goal"; + std::string path_topic = robot_name + "/path"; + + ros::Publisher test_status_pub = nh.advertise(status_topic, 1000, true); + goal_pub = nh.advertise(goal_topic, 1000, true); + + ros::Subscriber path_sub = nh.subscribe(path_topic, 1000, path_callback); + + std_msgs::Bool boolean; + boolean.data = true; + test_status_pub.publish(boolean); + + ros::Rate rate(1); + while(ros::ok()){ + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/test_defs/nav_stack_test.json b/test_defs/nav_stack_test.json new file mode 100644 index 0000000..ef03154 --- /dev/null +++ b/test_defs/nav_stack_test.json @@ -0,0 +1,17 @@ +{ + "map":{ + "world_name": "nerve2/nerve2_base_world", + "map_name": "nerve_ant_demo" + }, + "robots":{ + "number_of_robots": 1, + "robot_1":{ + "robot": "pioneer", + "robot_namespace": "pioneer", + "starting_position": [0, 0], + "goal_position": [3, 0], + "nav_config": "nav_stack" + } + } + } + \ No newline at end of file diff --git a/test_defs/nerve2_tuw_mbf_single_robot.json b/test_defs/nerve2_tuw_mbf_single_robot.json new file mode 100644 index 0000000..febe19f --- /dev/null +++ b/test_defs/nerve2_tuw_mbf_single_robot.json @@ -0,0 +1,17 @@ +{ + "map":{ + "world_name": "nerve2/nerve2_base_world", + "map_name": "nerve2_base_world" + }, + "robots":{ + "number_of_robots": 1, + "robot_1":{ + "robot": "pioneer", + "robot_namespace": "pioneer", + "starting_position": [0, 0], + "goal_position": [6, 0], + "nav_config": "tuw_mbf" + } + } + } + \ No newline at end of file diff --git a/test_defs/sample_test.json b/test_defs/sample_test.json new file mode 100644 index 0000000..cf52857 --- /dev/null +++ b/test_defs/sample_test.json @@ -0,0 +1,23 @@ +{ + "map":{ + "world_name": "nerve2/nerve2_base_world", + "map_name": "nerve2_base_world" + }, + "robots":{ + "number_of_robots": 2, + "robot_1":{ + "robot": "pioneer", + "robot_namespace": "pioneer", + "starting_position": [0, 0], + "goal_position": [6, 0], + "nav_config": "tuw" + }, + "robot_2":{ + "robot": "pioneer", + "robot_namespace": "pioneer_bot", + "starting_position": [0, 8], + "goal_position": [6, 8], + "nav_config": "tuw" + } + } +} diff --git a/test_defs/some.txt b/test_defs/some.txt new file mode 100644 index 0000000..e69de29 diff --git a/test_defs/test_1.json b/test_defs/test_1.json new file mode 100644 index 0000000..d4e192d --- /dev/null +++ b/test_defs/test_1.json @@ -0,0 +1,16 @@ +{ + "map":{ + "world_name": "nerve2/nerve2_base_world", + "map_name": "nerve_demo_second_pioneer" + }, + "robots":{ + "number_of_robots": 1, + "robot_1":{ + "robot": "pioneer", + "robot_namespace": "pioneer", + "starting_position": [0.29, 2.72], + "goal_position": [0.0, 0.0], + "nav_config": "nav_stack" + } + } +} diff --git a/test_defs/tuw_mbf_test.json b/test_defs/tuw_mbf_test.json new file mode 100644 index 0000000..fa3cc15 --- /dev/null +++ b/test_defs/tuw_mbf_test.json @@ -0,0 +1,24 @@ +{ + "map":{ + "world_name": "nerve2/nerve2_base_world", + "map_name": "nerve2_base_world" + }, + "robots":{ + "number_of_robots": 2, + "robot_1":{ + "robot": "pioneer", + "robot_namespace": "pioneer", + "starting_position": [0, 0], + "goal_position": [4, 12], + "nav_config": "tuw_mbf" + }, + "robot_2":{ + "robot": "pioneer", + "robot_namespace": "pioneer_bot", + "starting_position": [0, 20], + "goal_position": [4, 8], + "nav_config": "tuw_mbf" + } + } + } + \ No newline at end of file