Merge remote changes
This commit is contained in:
commit
cf59b4cd5c
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@ -0,0 +1 @@
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# This file currently only serves to mark the location of a catkin workspace for tool integration
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@ -0,0 +1,21 @@
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{
|
||||
"configurations": [
|
||||
{
|
||||
"browse": {
|
||||
"databaseFilename": "${default}",
|
||||
"limitSymbolsToIncludedHeaders": false
|
||||
},
|
||||
"includePath": [
|
||||
"/opt/ros/noetic/include/**",
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"/home/sasu/kubot_ws/src/kubot_description/include/**",
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"/usr/include/**"
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||||
],
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||||
"name": "ROS",
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||||
"intelliSenseMode": "gcc-x64",
|
||||
"compilerPath": "/usr/bin/gcc",
|
||||
"cStandard": "gnu11",
|
||||
"cppStandard": "c++14"
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
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||||
|
|
@ -0,0 +1,8 @@
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{
|
||||
"python.autoComplete.extraPaths": [
|
||||
"/opt/ros/noetic/lib/python3/dist-packages"
|
||||
],
|
||||
"python.analysis.extraPaths": [
|
||||
"/opt/ros/noetic/lib/python3/dist-packages"
|
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]
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}
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|
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@ -6,6 +6,10 @@ find_package(catkin REQUIRED COMPONENTS
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rospy
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std_msgs
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geometry_msgs
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sensor_msgs
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nav_msgs
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tf2
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tf2_ros
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)
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find_package(Eigen3 REQUIRED)
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|
|
@ -14,6 +18,10 @@ INCLUDE_DIRS include
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CATKIN_DEPENDS
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std_msgs
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geometry_msgs
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sensor_msgs
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nav_msgs
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tf2
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tf2_ros
|
||||
DEPENDS Eigen3
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||||
# DEPENDS system_lib
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)
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|
|
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|
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@ -1,18 +1,44 @@
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#ifndef SIMPLE_CONTROLLER_H
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#define SIMPLE_CONTROLLER_H
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#include <ros/ros.h>
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#include <geometry_msgs/Twist.h>
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#include <Eigen/Core>
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#include <sensor_msgs/JointState.h>
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#include <nav_msgs/Odometry.h>
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#include <geometry_msgs/TransformStamped.h>
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class SimpleController
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{
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public:
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SimpleController(const ros::NodeHandle & ,double radius, double seperation);
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private:
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void velCallBack(const geometry_msgs::Twist &);
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public:
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SimpleController(const ros::NodeHandle &, double radius, double separation);
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|
||||
private:
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void velCallback(const geometry_msgs::Twist &);
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|
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void jointCallback(const sensor_msgs::JointState &);
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|
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ros::NodeHandle nh_;
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ros::Subscriber vel_sub_;
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ros::Publisher right_cmd_pub_;
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ros::Publisher left_cmd_pub_;
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ros::Subscriber joint_sub_;
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ros::Publisher odom_pub_;
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|
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// Differential Kinematics
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Eigen::Matrix2d speed_conversion_;
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|
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// Odometry
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double wheel_radius_;
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double wheel_separation_;
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double right_wheel_prev_pos_;
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double left_wheel_prev_pos_;
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ros::Time prev_time_;
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nav_msgs::Odometry odom_msg_;
|
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double x_;
|
||||
double y_;
|
||||
double theta_;
|
||||
geometry_msgs::TransformStamped transform_stamped_;
|
||||
};
|
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#endif
|
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#endif
|
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|
|
@ -1,15 +1,17 @@
|
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#include <ros/ros.h>
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#include "turtlebot_controller/simple_controller.h"
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|
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int main(int argc, char **argv){
|
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|
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int main(int argc, char **argv)
|
||||
{
|
||||
ros::init(argc, argv, "simple_controller");
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ros::NodeHandle nh;
|
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ros::NodeHandle pnh("~");
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double wheel_radius;
|
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double wheel_radius, wheel_separation;
|
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pnh.getParam("wheel_radius", wheel_radius);
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||||
double wheel_seperation;
|
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pnh.getParam("wheel_seperation", wheel_seperation);
|
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SimpleController controller(nh, wheel_radius, wheel_seperation);
|
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pnh.getParam("wheel_separation", wheel_separation);
|
||||
SimpleController controller(nh, wheel_radius, wheel_separation);
|
||||
ros::spin();
|
||||
|
||||
return 0;
|
||||
}
|
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|
|
@ -54,14 +54,26 @@
|
|||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>geometry_msgs</build_depend>
|
||||
<build_depend>eigen</build_depend>
|
||||
<build_depend>sensor_msgs</build_depend>
|
||||
<build_depend>nav_msgs</build_depend>
|
||||
<build_depend>tf2</build_depend>
|
||||
<build_depend>tf2_ros</build_depend>
|
||||
<build_export_depend>roscpp</build_export_depend>
|
||||
<build_export_depend>rospy</build_export_depend>
|
||||
<build_export_depend>eigen</build_export_depend>
|
||||
<build_export_depend>sensor_msgs</build_export_depend>
|
||||
<build_export_depend>nav_msgs</build_export_depend>
|
||||
<build_export_depend>tf2</build_export_depend>
|
||||
<build_export_depend>tf2_ros</build_export_depend>
|
||||
<exec_depend>roscpp</exec_depend>
|
||||
<exec_depend>rospy</exec_depend>
|
||||
<exec_depend>std_msgs</exec_depend>
|
||||
<exec_depend>geometry_msgs</exec_depend>
|
||||
<exec_depend>eigen</exec_depend>
|
||||
<exec_depend>sensor_msgs</exec_depend>
|
||||
<exec_depend>nav_msgs</exec_depend>
|
||||
<exec_depend>tf2</exec_depend>
|
||||
<exec_depend>tf2_ros</exec_depend>
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
|
|
|
|||
|
|
@ -1,29 +1,116 @@
|
|||
#include <turtlebot_controller/simple_controller.h>
|
||||
#include "turtlebot_controller/simple_controller.h"
|
||||
#include <std_msgs/Float64.h>
|
||||
#include <Eigen/Geometry>
|
||||
#include <tf2/LinearMath/Quaternion.h>
|
||||
#include <tf2_ros/transform_broadcaster.h>
|
||||
|
||||
SimpleController::SimpleController(const ros::NodeHandle &nh ,double radius, double seperation): nh_(nh)
|
||||
|
||||
SimpleController::SimpleController(const ros::NodeHandle &nh,
|
||||
double radius,
|
||||
double separation)
|
||||
: nh_(nh)
|
||||
, wheel_radius_(radius)
|
||||
, wheel_separation_(separation)
|
||||
, left_wheel_prev_pos_(0.0)
|
||||
, right_wheel_prev_pos_(0.0)
|
||||
, x_(0.0)
|
||||
, y_(0.0)
|
||||
, theta_(0.0)
|
||||
{
|
||||
ROS_INFO_STREAM("Using wheel raduis" << radius);
|
||||
ROS_INFO_STREAM("Using wheel seperation" << seperation);
|
||||
ROS_INFO_STREAM("Using wheel radius " << radius);
|
||||
ROS_INFO_STREAM("Using wheel separation " << separation);
|
||||
right_cmd_pub_ = nh_.advertise<std_msgs::Float64>("wheel_right_controller/command", 10);
|
||||
left_cmd_pub_ = nh_.advertise<std_msgs::Float64>("wheel_left_controller/command", 10);
|
||||
vel_sub_ = nh_.subscribe("turtlebot_controller/cmd_vel", 1000, &SimpleController::velCallback, this);
|
||||
joint_sub_ = nh_.subscribe("joint_states", 1000, &SimpleController::jointCallback, this);
|
||||
odom_pub_ = nh_.advertise<nav_msgs::Odometry>("turtlebot_controller/odom", 10);
|
||||
|
||||
vel_sub_ = nh_.subscribe("turtlebot_controller/cmd.vel", 1000, &SimpleController::velCallBack, this);
|
||||
speed_conversion_ <<radius/2, radius/2, radius/seperation, -radius/seperation;
|
||||
speed_conversion_ << radius/2, radius/2, radius/separation, -radius/separation;
|
||||
ROS_INFO_STREAM("The conversion matrix is \n" << speed_conversion_);
|
||||
|
||||
// Fill the Odometry message with invariant parameters
|
||||
odom_msg_.header.frame_id = "odom";
|
||||
odom_msg_.child_frame_id = "base_footprint";
|
||||
odom_msg_.pose.pose.orientation.x = 0.0;
|
||||
odom_msg_.pose.pose.orientation.y = 0.0;
|
||||
odom_msg_.pose.pose.orientation.z = 0.0;
|
||||
odom_msg_.pose.pose.orientation.w = 1.0;
|
||||
|
||||
transform_stamped_.header.frame_id = "odom";
|
||||
transform_stamped_.child_frame_id = "base_footprint";
|
||||
|
||||
prev_time_ = ros::Time::now();
|
||||
}
|
||||
void SimpleController::velCallBack(const geometry_msgs::Twist &msg)
|
||||
|
||||
|
||||
void SimpleController::velCallback(const geometry_msgs::Twist &msg)
|
||||
{
|
||||
// Implements the differential kinematic model
|
||||
// Given v and w, calculate the velocities of the wheels
|
||||
Eigen::Vector2d robot_speed(msg.linear.x, msg.angular.z);
|
||||
Eigen::Vector2d wheel_speed = speed_conversion_.inverse() * robot_speed;
|
||||
|
||||
std_msgs::Float64 right_speed;
|
||||
right_speed.data = wheel_speed.coeff(0);
|
||||
std_msgs::Float64 left_speed;
|
||||
right_speed.data =wheel_speed.coeff(0);
|
||||
left_speed.data = wheel_speed.coeff(1);
|
||||
|
||||
right_cmd_pub_.publish(right_speed);
|
||||
left_cmd_pub_.publish(left_speed);
|
||||
}
|
||||
|
||||
|
||||
void SimpleController::jointCallback(const sensor_msgs::JointState &state)
|
||||
{
|
||||
// Implements the inverse differential kinematic model
|
||||
// Given the position of the wheels, calculates their velocities
|
||||
// then calculates the velocity of the robot wrt the robot frame
|
||||
// and then converts it in the global frame and publishes the TF
|
||||
double dp_left = state.position.at(0) - left_wheel_prev_pos_;
|
||||
double dp_right = state.position.at(1) - right_wheel_prev_pos_;
|
||||
double dt = (state.header.stamp - prev_time_).toSec();
|
||||
|
||||
// Actualize the prev pose for the next itheration
|
||||
left_wheel_prev_pos_ = state.position.at(0);
|
||||
right_wheel_prev_pos_ = state.position.at(1);
|
||||
prev_time_ = state.header.stamp;
|
||||
|
||||
// Calculate the rotational speed of each wheel
|
||||
double fi_left = dp_left / dt;
|
||||
double fi_right = dp_right / dt;
|
||||
|
||||
// Calculate the linear and angular velocity
|
||||
double linear = (wheel_radius_ * fi_right + wheel_radius_ * fi_left) / 2;
|
||||
double angular = (wheel_radius_ * fi_right - wheel_radius_ * fi_left) / wheel_separation_;
|
||||
|
||||
// Calculate the position increment
|
||||
double d_s = (wheel_radius_ * dp_right + wheel_radius_ * dp_left) / 2;
|
||||
double d_theta = (wheel_radius_ * dp_right - wheel_radius_ * dp_left) / wheel_separation_;
|
||||
theta_ += d_theta;
|
||||
x_ += d_s * cos(theta_);
|
||||
y_ += d_s * sin(theta_);
|
||||
|
||||
// Compose and publish the odom message
|
||||
tf2::Quaternion q;
|
||||
q.setRPY(0, 0, theta_);
|
||||
odom_msg_.header.stamp = ros::Time::now();
|
||||
odom_msg_.pose.pose.position.x = x_;
|
||||
odom_msg_.pose.pose.position.y = y_;
|
||||
odom_msg_.pose.pose.orientation.x = q.getX();
|
||||
odom_msg_.pose.pose.orientation.y = q.getY();
|
||||
odom_msg_.pose.pose.orientation.z = q.getZ();
|
||||
odom_msg_.pose.pose.orientation.w = q.getW();
|
||||
odom_msg_.twist.twist.linear.x = linear;
|
||||
odom_msg_.twist.twist.angular.z = angular;
|
||||
odom_pub_.publish(odom_msg_);
|
||||
|
||||
// TF
|
||||
static tf2_ros::TransformBroadcaster br;
|
||||
transform_stamped_.transform.translation.x = x_;
|
||||
transform_stamped_.transform.translation.y = y_;
|
||||
transform_stamped_.transform.rotation.x = q.getX();
|
||||
transform_stamped_.transform.rotation.y = q.getY();
|
||||
transform_stamped_.transform.rotation.z = q.getZ();
|
||||
transform_stamped_.transform.rotation.w = q.getW();
|
||||
transform_stamped_.header.stamp = ros::Time::now();
|
||||
br.sendTransform(transform_stamped_);
|
||||
}
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
<launch>
|
||||
<arg name="model" default="$(find kubot_description)/urdf/kubot.urdf.xacro"/>
|
||||
<arg name="world" default="$(find kubot_description)/worlds/ku_lab/ku_model.sdf"/>
|
||||
<!-- <arg name="world" default="empty_world"/> -->
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro '$(find turtlebot_description)/urdf/turtlebot.urdf.xacro'" />
|
||||
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(arg world)"/>
|
||||
<arg name="paused" value="false"/>
|
||||
<arg name="use_sim_time" value="true"/>
|
||||
<arg name="gui" value="true"/>
|
||||
<arg name="recording" value="false"/>
|
||||
<arg name="debug" value="false"/>
|
||||
</include>
|
||||
|
||||
<node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
|
||||
args="-unpause -urdf -model robot -param robot_description"
|
||||
output="screen" respawn="false"/>
|
||||
|
||||
</launch>
|
||||
|
|
@ -23,7 +23,7 @@
|
|||
<collision>
|
||||
<origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.266 0.266 0.094"/>
|
||||
<box size="0.266 0.266 0.094"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
|
|
@ -48,7 +48,7 @@
|
|||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.018" radius="0.033"/>
|
||||
<cylinder length="0.018" radius="0.033"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
|
|
@ -93,8 +93,29 @@
|
|||
</inertial>
|
||||
</link>
|
||||
|
||||
<<<<<<< HEAD
|
||||
<<<<<<< HEAD
|
||||
<link name="caster_back_right_link">
|
||||
=======
|
||||
<link name="caster_link">
|
||||
<collision>
|
||||
<origin xyz="0 0.001 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.030 0.009 0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="0.005" />
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- <link name="caster_back_right_link">
|
||||
>>>>>>> c06338a682c5cc259374cb313033cea656328708
|
||||
<collision>
|
||||
<origin xyz="0 0.001 0" rpy="0 0 0"/>
|
||||
=======
|
||||
|
|
@ -134,7 +155,7 @@
|
|||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
</link> -->
|
||||
|
||||
=======
|
||||
>>>>>>> devolop
|
||||
|
|
@ -164,8 +185,12 @@
|
|||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
<<<<<<< HEAD
|
||||
|
||||
<<<<<<< HEAD
|
||||
=======
|
||||
<!--
|
||||
>>>>>>> c06338a682c5cc259374cb313033cea656328708
|
||||
<link name="camera_link">
|
||||
=======
|
||||
<!-- <link name="camera_link">
|
||||
|
|
@ -176,15 +201,19 @@
|
|||
<box size="0.015 0.030 0.027"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</link> -->
|
||||
|
||||
<link name="camera_rgb_frame"/>
|
||||
<!-- <link name="camera_rgb_frame"/> -->
|
||||
|
||||
<<<<<<< HEAD
|
||||
<<<<<<< HEAD
|
||||
<link name="camera_rgb_optical_frame"/>
|
||||
=======
|
||||
<link name="camera_rgb_optical_frame"/> -->
|
||||
>>>>>>> devolop
|
||||
=======
|
||||
<!-- <link name="camera_rgb_optical_frame"/> -->
|
||||
>>>>>>> c06338a682c5cc259374cb313033cea656328708
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint"/>
|
||||
|
|
@ -205,7 +234,7 @@
|
|||
<origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
|
||||
<!--
|
||||
<joint name="caster_back_right_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<<<<<<< HEAD
|
||||
|
|
@ -217,6 +246,12 @@
|
|||
<parent link="base_link"/>
|
||||
<child link="caster_back_left_link"/>
|
||||
<origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
|
||||
</joint> -->
|
||||
|
||||
<joint name="caster_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="caster_link"/>
|
||||
<origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
|
||||
</joint>
|
||||
=======
|
||||
<child link="caster_back"/>
|
||||
|
|
@ -238,30 +273,38 @@
|
|||
<origin xyz="-0.024 0 0.122" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<<<<<<< HEAD
|
||||
<<<<<<< HEAD
|
||||
<joint name="camera_joint" type="fixed">
|
||||
=======
|
||||
<!-- <joint name="camera_joint" type="fixed">
|
||||
>>>>>>> devolop
|
||||
=======
|
||||
<!-- <joint name="camera_joint" type="fixed">
|
||||
>>>>>>> c06338a682c5cc259374cb313033cea656328708
|
||||
<origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="camera_link"/>
|
||||
</joint>
|
||||
|
||||
</joint> -->
|
||||
<!--
|
||||
<joint name="camera_rgb_joint" type="fixed">
|
||||
<origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
|
||||
<parent link="camera_link"/>
|
||||
<child link="camera_rgb_frame"/>
|
||||
</joint>
|
||||
</joint> -->
|
||||
|
||||
<joint name="camera_rgb_optical_joint" type="fixed">
|
||||
<!-- <joint name="camera_rgb_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
|
||||
<parent link="camera_rgb_frame"/>
|
||||
<child link="camera_rgb_optical_frame"/>
|
||||
<<<<<<< HEAD
|
||||
<<<<<<< HEAD
|
||||
</joint>
|
||||
=======
|
||||
</joint> -->
|
||||
>>>>>>> devolop
|
||||
=======
|
||||
</joint> -->
|
||||
>>>>>>> c06338a682c5cc259374cb313033cea656328708
|
||||
|
||||
</robot>
|
||||
|
|
@ -32,18 +32,7 @@
|
|||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="caster_back_right_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>1000000</kp>
|
||||
<kd>100</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>1</maxVel>
|
||||
<fdir1>1 0 0</fdir1>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="caster_back_left_link">
|
||||
<gazebo reference="caster_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>1000000</kp>
|
||||
|
|
@ -82,4 +71,33 @@
|
|||
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<gazebo reference="base_scan">
|
||||
|
||||
<sensor name="laser" type="ray">
|
||||
<pose> 0 0 0 0 0 0 </pose>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>10</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<min_angle>-3.14</min_angle>
|
||||
<max_angle>3.14</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.3</min>
|
||||
<max>12</max>
|
||||
</range>
|
||||
</ray>
|
||||
<plugin name="laser_controller" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<argument>~/out:=scan</argument>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>laser_frame</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,202 @@
|
|||
cmake_minimum_required(VERSION 3.0.2)
|
||||
project(turtlebot_slam)
|
||||
|
||||
## Compile as C++11, supported in ROS Kinetic and newer
|
||||
# add_compile_options(-std=c++11)
|
||||
|
||||
## Find catkin macros and libraries
|
||||
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
||||
## is used, also find other catkin packages
|
||||
find_package(catkin REQUIRED)
|
||||
|
||||
## System dependencies are found with CMake's conventions
|
||||
# find_package(Boost REQUIRED COMPONENTS system)
|
||||
|
||||
|
||||
## Uncomment this if the package has a setup.py. This macro ensures
|
||||
## modules and global scripts declared therein get installed
|
||||
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
||||
# catkin_python_setup()
|
||||
|
||||
################################################
|
||||
## Declare ROS messages, services and actions ##
|
||||
################################################
|
||||
|
||||
## To declare and build messages, services or actions from within this
|
||||
## package, follow these steps:
|
||||
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
||||
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
||||
## * In the file package.xml:
|
||||
## * add a build_depend tag for "message_generation"
|
||||
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
|
||||
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
||||
## but can be declared for certainty nonetheless:
|
||||
## * add a exec_depend tag for "message_runtime"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "message_generation" and every package in MSG_DEP_SET to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||
## * add "message_runtime" and every package in MSG_DEP_SET to
|
||||
## catkin_package(CATKIN_DEPENDS ...)
|
||||
## * uncomment the add_*_files sections below as needed
|
||||
## and list every .msg/.srv/.action file to be processed
|
||||
## * uncomment the generate_messages entry below
|
||||
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
||||
|
||||
## Generate messages in the 'msg' folder
|
||||
# add_message_files(
|
||||
# FILES
|
||||
# Message1.msg
|
||||
# Message2.msg
|
||||
# )
|
||||
|
||||
## Generate services in the 'srv' folder
|
||||
# add_service_files(
|
||||
# FILES
|
||||
# Service1.srv
|
||||
# Service2.srv
|
||||
# )
|
||||
|
||||
## Generate actions in the 'action' folder
|
||||
# add_action_files(
|
||||
# FILES
|
||||
# Action1.action
|
||||
# Action2.action
|
||||
# )
|
||||
|
||||
## Generate added messages and services with any dependencies listed here
|
||||
# generate_messages(
|
||||
# DEPENDENCIES
|
||||
# std_msgs # Or other packages containing msgs
|
||||
# )
|
||||
|
||||
################################################
|
||||
## Declare ROS dynamic reconfigure parameters ##
|
||||
################################################
|
||||
|
||||
## To declare and build dynamic reconfigure parameters within this
|
||||
## package, follow these steps:
|
||||
## * In the file package.xml:
|
||||
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "dynamic_reconfigure" to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
||||
## and list every .cfg file to be processed
|
||||
|
||||
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
||||
# generate_dynamic_reconfigure_options(
|
||||
# cfg/DynReconf1.cfg
|
||||
# cfg/DynReconf2.cfg
|
||||
# )
|
||||
|
||||
###################################
|
||||
## catkin specific configuration ##
|
||||
###################################
|
||||
## The catkin_package macro generates cmake config files for your package
|
||||
## Declare things to be passed to dependent projects
|
||||
## INCLUDE_DIRS: uncomment this if your package contains header files
|
||||
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||
catkin_package(
|
||||
# INCLUDE_DIRS include
|
||||
# LIBRARIES turtlebot_slam
|
||||
# CATKIN_DEPENDS other_catkin_pkg
|
||||
# DEPENDS system_lib
|
||||
)
|
||||
|
||||
###########
|
||||
## Build ##
|
||||
###########
|
||||
|
||||
## Specify additional locations of header files
|
||||
## Your package locations should be listed before other locations
|
||||
include_directories(
|
||||
# include
|
||||
# ${catkin_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
## Declare a C++ library
|
||||
# add_library(${PROJECT_NAME}
|
||||
# src/${PROJECT_NAME}/turtlebot_slam.cpp
|
||||
# )
|
||||
|
||||
## Add cmake target dependencies of the library
|
||||
## as an example, code may need to be generated before libraries
|
||||
## either from message generation or dynamic reconfigure
|
||||
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
## Declare a C++ executable
|
||||
## With catkin_make all packages are built within a single CMake context
|
||||
## The recommended prefix ensures that target names across packages don't collide
|
||||
# add_executable(${PROJECT_NAME}_node src/turtlebot_slam_node.cpp)
|
||||
|
||||
## Rename C++ executable without prefix
|
||||
## The above recommended prefix causes long target names, the following renames the
|
||||
## target back to the shorter version for ease of user use
|
||||
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
|
||||
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
|
||||
|
||||
## Add cmake target dependencies of the executable
|
||||
## same as for the library above
|
||||
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
## Specify libraries to link a library or executable target against
|
||||
# target_link_libraries(${PROJECT_NAME}_node
|
||||
# ${catkin_LIBRARIES}
|
||||
# )
|
||||
|
||||
#############
|
||||
## Install ##
|
||||
#############
|
||||
|
||||
# all install targets should use catkin DESTINATION variables
|
||||
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
||||
|
||||
## Mark executable scripts (Python etc.) for installation
|
||||
## in contrast to setup.py, you can choose the destination
|
||||
# catkin_install_python(PROGRAMS
|
||||
# scripts/my_python_script
|
||||
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark executables for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
|
||||
# install(TARGETS ${PROJECT_NAME}_node
|
||||
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark libraries for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||
# install(TARGETS ${PROJECT_NAME}
|
||||
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark cpp header files for installation
|
||||
# install(DIRECTORY include/${PROJECT_NAME}/
|
||||
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
# FILES_MATCHING PATTERN "*.h"
|
||||
# PATTERN ".svn" EXCLUDE
|
||||
# )
|
||||
|
||||
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||
# install(FILES
|
||||
# # myfile1
|
||||
# # myfile2
|
||||
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
# )
|
||||
|
||||
#############
|
||||
## Testing ##
|
||||
#############
|
||||
|
||||
## Add gtest based cpp test target and link libraries
|
||||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_turtlebot_slam.cpp)
|
||||
# if(TARGET ${PROJECT_NAME}-test)
|
||||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||
# endif()
|
||||
|
||||
## Add folders to be run by python nosetests
|
||||
# catkin_add_nosetests(test)
|
||||
|
|
@ -0,0 +1,58 @@
|
|||
-- Copyright 2016 The Cartographer Authors
|
||||
--
|
||||
-- Licensed under the Apache License, Version 2.0 (the "License");
|
||||
-- you may not use this file except in compliance with the License.
|
||||
-- You may obtain a copy of the License at
|
||||
--
|
||||
-- http://www.apache.org/licenses/LICENSE-2.0
|
||||
--
|
||||
-- Unless required by applicable law or agreed to in writing, software
|
||||
-- distributed under the License is distributed on an "AS IS" BASIS,
|
||||
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
-- See the License for the specific language governing permissions and
|
||||
-- limitations under the License.
|
||||
|
||||
include "map_builder.lua"
|
||||
include "trajectory_builder.lua"
|
||||
|
||||
options = {
|
||||
map_builder = MAP_BUILDER,
|
||||
trajectory_builder = TRAJECTORY_BUILDER,
|
||||
map_frame = "map",
|
||||
-- tracking_frame = "imu_link", -- imu_link, If you are using gazebo, use 'base_footprint' (libgazebo_ros_imu's bug)
|
||||
tracking_frame = "base_footprint"
|
||||
published_frame = "odom",
|
||||
odom_frame = "odom",
|
||||
provide_odom_frame = false,
|
||||
publish_frame_projected_to_2d = false,
|
||||
use_odometry = true,
|
||||
use_nav_sat = false,
|
||||
use_landmarks = false,
|
||||
num_laser_scans = 1,
|
||||
num_multi_echo_laser_scans = 0,
|
||||
num_subdivisions_per_laser_scan = 1,
|
||||
num_point_clouds = 0,
|
||||
lookup_transform_timeout_sec = 0.2,
|
||||
submap_publish_period_sec = 0.3,
|
||||
pose_publish_period_sec = 5e-3,
|
||||
trajectory_publish_period_sec = 30e-3,
|
||||
rangefinder_sampling_ratio = 1.,
|
||||
odometry_sampling_ratio = 0.1,
|
||||
fixed_frame_pose_sampling_ratio = 1.,
|
||||
imu_sampling_ratio = 0.1,
|
||||
landmarks_sampling_ratio = 1.,
|
||||
}
|
||||
|
||||
MAP_BUILDER.use_trajectory_builder_2d = true
|
||||
|
||||
TRAJECTORY_BUILDER_2D.min_range = 0.1
|
||||
TRAJECTORY_BUILDER_2D.max_range = 3.5
|
||||
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.
|
||||
TRAJECTORY_BUILDER_2D.use_imu_data = true
|
||||
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
|
||||
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)
|
||||
|
||||
POSE_GRAPH.constraint_builder.min_score = 0.65
|
||||
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7
|
||||
|
||||
return options
|
||||
|
|
@ -0,0 +1,59 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>turtlebot_slam</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The turtlebot_slam package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="sasu@todo.todo">sasu</maintainer>
|
||||
|
||||
|
||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
|
||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||
<license>TODO</license>
|
||||
|
||||
|
||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||
<!-- Example: -->
|
||||
<!-- <url type="website">http://wiki.ros.org/turtlebot_slam</url> -->
|
||||
|
||||
|
||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintainers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||
<!-- <depend>roscpp</depend> -->
|
||||
<!-- Note that this is equivalent to the following: -->
|
||||
<!-- <build_depend>roscpp</build_depend> -->
|
||||
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use exec_depend for packages you need at runtime: -->
|
||||
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||
<!-- Use test_depend for packages you need only for testing: -->
|
||||
<!-- <test_depend>gtest</test_depend> -->
|
||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
Loading…
Reference in New Issue