Merge remote changes

.catkin_workspace

@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration

.vscode/c_cpp_properties.json

@@ -0,0 +1,21 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/noetic/include/**",
+        "/home/sasu/kubot_ws/src/kubot_description/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,8 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
+}

src/turtlebot_controller/CMakeLists.txt

@@ -6,6 +6,10 @@ find_package(catkin REQUIRED COMPONENTS
   rospy
   std_msgs
   geometry_msgs
+  sensor_msgs
+  nav_msgs
+  tf2
+  tf2_ros
 )
 find_package(Eigen3 REQUIRED)
 
@@ -14,6 +18,10 @@ INCLUDE_DIRS include
 CATKIN_DEPENDS 
 std_msgs
 geometry_msgs
+sensor_msgs
+nav_msgs
+tf2
+tf2_ros
 DEPENDS Eigen3
 #  DEPENDS system_lib
 )

src/turtlebot_controller/include/turtlebot_controller/simple_controller.h

@@ -1,18 +1,44 @@
 #ifndef SIMPLE_CONTROLLER_H
 #define SIMPLE_CONTROLLER_H
+
 #include <ros/ros.h>
 #include <geometry_msgs/Twist.h>
 #include <Eigen/Core>
+#include <sensor_msgs/JointState.h>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/TransformStamped.h>
+
+
 class SimpleController
 {
-    public:
+public:
-    SimpleController(const ros::NodeHandle & ,double radius, double seperation);
+    SimpleController(const ros::NodeHandle &, double radius, double separation);
-    private:
+
-    void velCallBack(const geometry_msgs::Twist &);
+private:
+    void velCallback(const geometry_msgs::Twist &);
+
+    void jointCallback(const sensor_msgs::JointState &);
+
     ros::NodeHandle nh_;
     ros::Subscriber vel_sub_;
     ros::Publisher right_cmd_pub_;
     ros::Publisher left_cmd_pub_;
+    ros::Subscriber joint_sub_;
+    ros::Publisher odom_pub_;
+
+    // Differential Kinematics
     Eigen::Matrix2d speed_conversion_;
+
+    // Odometry
+    double wheel_radius_;
+    double wheel_separation_;
+    double right_wheel_prev_pos_;
+    double left_wheel_prev_pos_;
+    ros::Time prev_time_;
+    nav_msgs::Odometry odom_msg_;
+    double x_;
+    double y_;
+    double theta_;
+    geometry_msgs::TransformStamped transform_stamped_;
 };
 #endif 

src/turtlebot_controller/nodes/simple_controller_node.cpp

@@ -1,15 +1,17 @@
 #include <ros/ros.h>
 #include "turtlebot_controller/simple_controller.h"
 
-int main(int argc, char **argv){
+
+int main(int argc, char **argv)
+{
     ros::init(argc, argv, "simple_controller");
     ros::NodeHandle nh;
     ros::NodeHandle pnh("~");
-    double wheel_radius;
+    double wheel_radius, wheel_separation;
     pnh.getParam("wheel_radius", wheel_radius);
-    double wheel_seperation;
+    pnh.getParam("wheel_separation", wheel_separation);
-    pnh.getParam("wheel_seperation", wheel_seperation);
+    SimpleController controller(nh, wheel_radius, wheel_separation);
-    SimpleController controller(nh, wheel_radius, wheel_seperation);
     ros::spin();
+
     return 0;
 }

src/turtlebot_controller/package.xml

@@ -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>

src/turtlebot_controller/src/simple_controller.cpp

@@ -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 radius " << radius);
-    ROS_INFO_STREAM("Using wheel seperation" << seperation);
+    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/separation, -radius/separation;
-    speed_conversion_ <<radius/2, radius/2, radius/seperation, -radius/seperation;
     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_);
 }

src/turtlebot_description/launch/gazebo.launch

@@ -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>

src/turtlebot_description/urdf/turtlebot.urdf.xacro

@@ -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>

src/turtlebot_description/urdf/turtlebot_gazebo.xacro

@@ -32,18 +32,7 @@
         <material>Gazebo/FlatBlack</material>
     </gazebo>
     
-    <gazebo reference="caster_back_right_link">
+    <gazebo reference="caster_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">
         <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>

src/turtlebot_slam/CMakeLists.txt

@@ -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)

src/turtlebot_slam/config/turtlebot_lds_2d.lua

@@ -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

src/turtlebot_slam/package.xml

@@ -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>